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Behavior maps for online planning of obstacle negotiation and climbing on rough terrain
2007
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
To autonomously navigate on rough terrain is a challenging problem for mobile robots, requiring the ability to decide whether parts of the environment can be traversed or have to be bypassed, which is commonly known as Obstacle Negotiation (ON). In this paper, we introduce a planning framework that extends ON to the general case, where different types of terrain classes directly map to specific robot skills, such as climbing stairs and ramps. This extension is based on a new concept called
doi:10.1109/iros.2007.4399107
dblp:conf/iros/DornhegeK07a
fatcat:fagbwtj6k5bwxcubnz422754jy