Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots

arXiv:2405.01792v1 Announce Type: cross
Abstract: Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots, necessitating innovative solutions for locomotion and navigation. These challenges include the need for adaptive locomotion across varied terrains and the ability to navigate efficiently around complex dynamic obstacles. This work introduces a fully integrated system comprising adaptive locomotion control, mobility-aware local navigation planning, and large-scale path planning within …

abstract adaptability arxiv autonomous challenges cs.lg cs.ro cs.sy eess.sy efficiency environments however improving legged robots logistics navigation robots robust solutions systems type unique urban