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Published at November 26

TRIP: Terrain Traversability Mapping With Risk-Aware Prediction for Enhanced Online Quadrupedal Robot Navigation

cs.RO

Released Date: November 26, 2024

Authors: Minho Oh, Byeongho Yu, I Made Aswin Nahrendra, Seoyeon Jang, Hyeonwoo Lee, Dongkyu Lee, Seungjae Lee, Yeeun Kim, Marsim Kevin Christiansen, Hyungtae Lim, Hyun Myung

Arxiv: http://arxiv.org/abs/2411.17134v1

Metrics		Terrain Map $\downarrow$		Navigation Map $\uparrow$
Metrics		MHE	MTE	$P_{\leavevmode\nobreak\ }$	$R_{\leavevmode\nobreak\ }$	$F_{1}$	$A_{\leavevmode\nobreak\ }$
QRC Sim.	BGK⁺ [21]	22.31	21.38	46.1	99.2	62.9	75.3
	BGK ${}^{+}_{f}$	18.60	17.42	56.6	99.1	72.0	84.2
	$t_{f}$ -map [27]	14.19	7.13	80.9	93.6	86.7	93.7
	TRIP-S	16.92	10.50	91.0	99.0	94.8	96.8
	TRIP	10.17	7.47	99.6	97.9	98.7	99.5
Seq.00	BGK⁺ [21]	31.34	20.56	64.6	93.7	76.5	81.2
	BGK ${}^{+}_{f}$	29.83	18.35	70.6	93.7	80.5	85.3
	TRIP-S	28.35	14.37	81.6	96.7	88.5	92.1
	TRIP	28.05	13.77	88.0	96.8	92.2	95.3
Seq.01	BGK⁺ [21]	21.81	17.73	68.9	93.3	79.3	87.4
	BGK ${}^{+}_{f}$	21.48	17.27	72.7	93.2	81.7	89.1
	TRIP-S	16.85	12.15	81.7	94.1	87.5	94.4
	TRIP	15.51	10.59	85.4	95.5	90.2	95.8
Seq.04	BGK⁺ [21]	31.10	25.68	62.8	81.4	70.9	79.4
	BGK ${}^{+}_{f}$	30.82	25.24	64.4	81.4	71.9	80.4
	TRIP-S	20.86	11.14	84.5	82.7	83.6	91.3
	TRIP	19.24	9.98	89.1	86.9	88.0	94.7
Seq.05	BGK⁺ [21]	28.83	22.02	63.9	87.8	73.9	79.2
	BGK ${}^{+}_{f}$	27.75	20.40	69.1	87.8	77.3	82.7
	TRIP-S	24.05	12.24	81.1	92.1	86.2	90.4
	TRIP	22.89	11.04	90.0	92.1	91.0	94.7
Seq.07	BGK⁺ [21]	38.77	34.79	63.1	90.0	74.2	74.8
	BGK ${}^{+}_{f}$	37.72	33.12	65.4	89.9	75.7	76.9
	TRIP-S	33.67	12.82	83.8	94.8	89.0	91.3
	TRIP	32.95	11.87	91.5	94.5	93.0	95.3