Tootfinder

CAHSOR: Competence-Aware High-Speed Off-Road Ground Navigation in SE(3)
Anuj Pokhrel, Aniket Datar, Mohammad Nazeri, Xuesu Xiao
https://arxiv.org/abs/2402.07065

CAHSOR: Competence-Aware High-Speed Off-Road Ground Navigation in SE(3)
While the workspace of traditional ground vehicles is usually assumed to be in a 2D plane, i.e., SE(2), such an assumption may not hold when they drive at high speeds on unstructured off-road terrain: High-speed sharp turns on high-friction surfaces may lead to vehicle rollover; Turning aggressively on loose gravel or grass may violate the non-holonomic constraint and cause significant lateral sliding; Driving quickly on rugged terrain will produce extensive vibration along the vertical axis. T…