[2305.02938] Off-Road Navigation of Legged Robots Using Linear Transfer Operators
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Computer Science > Robotics

arXiv:2305.02938 (cs)
[Submitted on 4 May 2023]

Title:Off-Road Navigation of Legged Robots Using Linear Transfer Operators

Authors:Joseph Moyalan, Andrew Zheng, Sriram S.K.S Narayanan, Umesh Vaidya
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Abstract:This paper presents the implementation of off-road navigation on legged robots using convex optimization through linear transfer operators. Given a traversability measure that captures the off-road environment, we lift the navigation problem into the density space using the Perron-Frobenius (P-F) operator. This allows the problem formulation to be represented as a convex optimization. Due to the operator acting on an infinite-dimensional density space, we use data collected from the terrain to get a finite-dimension approximation of the convex optimization. Results of the optimal trajectory for off-road navigation are compared with a standard iterative planner, where we show how our convex optimization generates a more traversable path for the legged robot compared to the suboptimal iterative planner.
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2305.02938 [cs.RO]
  (or arXiv:2305.02938v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2305.02938

Submission history

From: Joseph Moyalan [view email]
[v1] Thu, 4 May 2023 15:39:19 UTC (28,009 KB)
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