Cost-Efficient Global Robot Navigation in Rugged Off-Road Terrain
The thesis Cost-Efficient Global Robot Navigation in Rugged Off-Road Terrain proposes a global robot navigation concept for rugged off-road terrain which is robust against inaccurate self-localization and scalable to large environments, but also cost-conscious, e.g. able to generate navigation paths which optimize a cost measure closely related to terrain traversability. The thesis contributes a set of new techniques to integrate cost-consciousness into a primarily topological navigation scheme. Also, novel methods to learn and optimize cost estimates from experience are developed.
robot navigation topological map traversability cost learning