Look Who it Was Random video

Planning Hybrid Driving-Stepping Locomotion on Multiple Levels of Abstraction

250 views · Published 8 March 2018 · 3:40 · Indexed 5 October 2026

Channel: nimbro · 2018 · Science & Technology

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Video attachement to 
Tobias Klamt and Sven Behnke: "Planning Hybrid Driving-Stepping Locomotion on Multiple Levels of Abstraction"
IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018. 

http://www.ais.uni-bonn.de/papers/ICRA_2018_Klamt.pdf

Navigating in search and rescue environments is
challenging, since a variety of terrains has to be considered.
Hybrid driving-stepping locomotion, as provided by our robot
Momaro, is a promising approach. Similar to other locomotion
methods, it incorporates many degrees of freedom—offering
high flexibility but making planning computationally expensive
for larger environments.
We propose a navigation planning method, which unifies
different levels of representation in a single planner. In the
vicinity of the robot, it provides plans with a fine resolution
and a high robot state dimensionality. With increasing distance
from the robot, plans become coarser and the robot state dimensionality decreases. We compensate this loss of information
by enriching coarser representations with additional semantics.
Experiments show that the proposed planner provides plans for
large, challenging scenarios in feasible time.

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