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- W29479839 abstract "This paper is concerned with how a localised and energy-constrained robot can maximise its time in the field by taking paths and tours that minimise its energy expenditure. A significant component of a robot's energy is expended on mobility and is a function of terrain traversability. We estimate traversability online from data sensed by the robot as it moves, and use this to generate maps, explore and ultimately converge on minimum energy tours of the environment. We provide results of detailed simulations and parameter studies that show the efficacy of this approach for a robot moving over terrain with unknown traversability as well as a number of a priori unknown hard obstacles." @default.
- W29479839 created "2016-06-24" @default.
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- W29479839 date "2014-01-01" @default.
- W29479839 modified "2023-09-23" @default.
- W29479839 title "Long-term exploration and tours for energy constrained robots with online proprioceptive traversability estimation" @default.
- W29479839 hasPublicationYear "2014" @default.
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