In order to fully exploit robot motion capabilities in complex environments, robots need to reason about obstacles in a non-binary fashion. In this paper, we focus on the modeling and characterization of pliable materials such as tall vegetation. These materials are of interest because they are pervasive in the real world, requiring the robotic vehicle to determine when to traverse or avoid them. This paper develops and experimentally verifies a template model for vegetation stems. In addition, it presents a methodology to generate predictions of the associated energetic cost incurred by a tracked mobile robot when traversing a vegetation patch of variable density.
Camilo Ordonez, Ryan Alicea, Brandon Rothrock, Kyle Ladyko, Mario Harper, Sisir Karumanchi, Larry Matthies, and Emmanuel Collins, "Modeling and traversal of pliable materials for tracked robot navigation," Proc. SPIE 10640, Unmanned Systems Technology XX, 106400F (Presented at SPIE Defense + Security: April 18, 2018; Published: 3 May 2018); https://doi.org/10.1117/12.2304431.
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Study of self-shadowing effect as a simple means to realize nanostructured thin films and layers with special attentions to birefringent obliquely deposited thin films and photo-luminescent porous silicon