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MA3: Model-Accuracy Aware Anytime Planning with Simulation Verification for Navigating Complex Terrains
Proceedings of the International Symposium on Combinatorial Search
Off-road and unstructured environments often contain complex patches of various types of terrain, rough elevation changes, deformable objects, etc. An autonomous ground vehicle traversing such environments experiences physical interactions that are extremely hard to model at scale and thus very hard to predict. Nevertheless, planning a safely traversable path through such an environment requires the ability to predict the outcomes of these interactions instead of avoiding them. One approach todoi:10.1609/socs.v15i1.21753 fatcat:ahc5fqqwr5bh7caxj4qw6ssshm