Rapid Physics-Based Rough-Terrain Rover Planning with Sensor and Control Uncertainty

@inproceedings{Iagnemma1999RapidPR,
  title={Rapid Physics-Based Rough-Terrain Rover Planning with Sensor and Control Uncertainty},
  author={Karl Iagnemma and Frank G{\'e}not and Steven Dubowsky},
  booktitle={ICRA},
  year={1999}
}
In future planetary exploration missions, rovers will be required to autonomously traverse challenging environments. Much of the previous work in robot motion planning cannot be successfully applied to the rough-terrain planning problem. A model-based planning method is presented in this paper that is computationally efficient and takes into account uncertainty in the robot model, terrain model, range sensor data, and rover pathfollowing errors. It is based on rapid path planning through the… CONTINUE READING
Highly Cited
This paper has 90 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 59 extracted citations

91 Citations

0510'99'03'08'13'18
Citations per Year
Semantic Scholar estimates that this publication has 91 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-10 of 16 references

Imaging Laser Radars,

  • A. Kelly, A. Stentz
  • Image and Vision Computing,
  • 1998

Planning on Rough Terrain for an Articulated Vehicle in Presence of Uncertanties,

  • M. S. Thesis, Mass
  • IEEWRSJ International Symposium on
  • 1998

Characterization of Martian Surface Deposits by the Mars Pathfinder Rover , Sojourner

  • J. Matijevic
  • 1997

Dynamic Analysis of Off - Road Vehicles

  • F. Ben Amar, P. Bidaud
  • 1995

Similar Papers

Loading similar papers…