STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware
Off-road Navigation; Results from the DARPA Subterranean Challenge

STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge

2 March 2023

Ali-Akbar Agha-Mohammadi

Papers citing "STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge"

12 / 12 papers shown

Title
Steppability-informed Quadrupedal Contact Planning through Deep Visual Search Heuristics M. Asselmeier Ye Zhao Patricio A. Vela 107 0 0 03 Jan 2025
Collision-Aware Traversability Analysis for Autonomous Vehicles in the Context of Agricultural Robotics Florian Philippe Johann Laconte Pierre-Jean Lapray Matthias Spisser Jean-Philippe Lauffenburger 58 0 0 04 Oct 2024
CAHSOR: Competence-Aware High-Speed Off-Road Ground Navigation in SE(3) Anuj Pokhrel A. Datar Mohammad Nazeri Xuesu Xiao 80 2 0 10 Feb 2024
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains S. Dey David D. Fan Robin Schmid Anushri Dixit K. Otsu Thomas Touma Arndt F. Schilling Ali-akbar Agha-mohammadi 47 10 0 30 Jul 2022
Moving Obstacle Avoidance: a Data-Driven Risk-Aware Approach Skylar X. Wei Anushri Dixit Shashank Tomar J. W. Burdick 46 16 0 25 Mar 2022
Distributionally Robust Model Predictive Control with Total Variation Distance Anushri Dixit M. Ahmadi J. W. Burdick 42 16 0 22 Mar 2022
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge A. Agha K. Otsu B. Morrell David D. Fan Rohan Thakker ... Giovanni Beltrame G. Nikolakopoulos David Hyunchul Shim Luca Carlone J. W. Burdick 77 143 0 21 Mar 2021
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation David D. Fan K. Otsu Y. Kubo Anushri Dixit J. W. Burdick Ali-Akbar Agha-Mohammadi 79 61 0 04 Mar 2021
Risk-Sensitive Motion Planning using Entropic Value-at-Risk Anushri Dixit M. Ahmadi J. W. Burdick 73 27 0 23 Nov 2020
Learning to Drive Off Road on Smooth Terrain in Unstructured Environments Using an On-Board Camera and Sparse Aerial Images Travis Manderson Stefan Wapnick David Meger Gregory Dudek 48 34 0 09 Apr 2020
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments K. Ebadi Yun Chang M. Palieri A. Stephens A. Hatteland ... Nobuhiro Funabiki B. Morrell Sally Wood Luca Carlone Ali-akbar Agha-mohammadi 61 133 0 03 Mar 2020
Deep Learning Tubes for Tube MPC David D. Fan Ali-akbar Agha-mohammadi Evangelos A. Theodorou 81 57 0 05 Feb 2020