Navigation
Pictures
Planner results (start location is blue, goal location is green)
Multi-level platforms
Multi-level platforms
Small blocks
Small blocks
Small blocks
Medium blocks
Tall blocks
Large and small blocks
Large and small blocks
Spikes
Lumpy ground
Lumpy ground
Lumpy ground
Lumpy ground
Walking down stairs
Walking down stairs
Stairs with obstacles
Stairs with obstacles
Stairs with obstacles
Stairs with obstacles
Stairs off to the side
Long distance over lumpy ground
Long distance with obstacles
Long distance with lumpy ground and obstacles
Long distance with scattered obstacles and bumps
Alternate start and goal locations
Alternate start and goal locations
Local minimum using Best-first search
Local minimum using A* search
Location Metrics (blue is low cost, red is high cost)
Example Terrain
Angle Cost
Roughness Cost
Largest Bump Cost
Stability Cost
Safety Cost
All Costs
Cost weights zeroed
Online Experiments
Stereo Camera Images
Depth map from stereo
Free floor space
Planning map of free floor space
Completed plan
Plan executing
