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GaitMesh: controller-aware navigation meshes for long-range legged locomotion planning in multi-layered environments

Abstract:

Long-range locomotion planning is an important problem for the deployment of legged robots to real scenarios. Current methods used for legged locomotion planning often do not exploit the flexibility of legged robots, and do not scale well with environment size. In this letter we propose the use of navigation meshes for deployment in large-scale multi-floor sites. We leverage this representation to improve long-term locomotion plans in terms of success rates, path costs and reasoning about whi...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1109/lra.2020.2979628

Authors


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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Sub department:
Engineering Science
Role:
Author
ORCID:
0000-0002-4371-4623
Publisher:
Institute of Electrical and Electronics Engineers
Journal:
IEEE Robotics and Automation Letters More from this journal
Volume:
5
Issue:
2
Pages:
3596-3603
Publication date:
2020-03-09
Acceptance date:
2019-12-27
DOI:
EISSN:
2377-3774
Language:
English
Keywords:
Pubs id:
1101215
Local pid:
pubs:1101215
Deposit date:
2020-04-27

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