Rough-Terrain Robot Motion Planning based on Obstacleness

  title={Rough-Terrain Robot Motion Planning based on Obstacleness},
  author={Alan Ettlin and Hannes Bleuler},
  journal={2006 9th International Conference on Control, Automation, Robotics and Vision},
Various approaches have been proposed to tackle the rough-terrain robot motion planning task to date. Depending on the application at hand, a different algorithm is selected to generate a motion plan. Nevertheless, they all have the fundamental characteristics of the rough terrain in common. Based on this notion, a unifying formalism is presented which can be used to represent application-dependent properties of the terrain to the motion planner. The approach is based on the characteristic… CONTINUE READING


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