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A multirange architecture for collision-free off-road robot navigation
2009
Journal of Field Robotics
We present a multi-layered mapping, planning, and command execution system developed and tested on the LAGR mobile robot. Key to robust performance under uncertainty is the combination of a short-range perception system operating at high frame rate and low resolution and a long-range, adaptive vision system operating at lower frame rate and higher resolution. The short-range module performs local planning and obstacle avoidance with fast reaction times, while the long-range module performs
doi:10.1002/rob.20270
fatcat:whztx6qearde7fyukx4hslx644