Topological mapping for traversability-aware long-range navigation in off-road terrain
<|reference_start|>Topological mapping for traversability-aware long-range navigation in off-road terrain: Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for long-range planning, exploration and low-level control in unknown off-trail forest terrain, using vision and GPS only. We represent outdoor terrain with a topological map, which is a set of panoramic snapshots connected with edges containing traversability information. A novel traversability analysis method is demonstrated, predicting the existence of a safe path towards a target in an image. Navigating between nodes is done using goal-conditioned behavior cloning, leveraging the power of a pretrained vision transformer. An exploration planner is presented, efficiently covering an unknown off-road area with unknown traversability using a frontiers-based approach. The approach is successfully deployed to autonomously explore two 400 meters squared forest sites unseen during training, in difficult conditions for navigation.<|reference_end|>
@article{tremblay2024topological,
    title={Topological mapping for traversability-aware long-range navigation in
  off-road terrain},
    author={Jean-Franc{c}ois Tremblay, Julie Alhosh, Louis Petit, Faraz Lotfi,
  Lara Landauro and David Meger},
    journal={arXiv preprint arXiv:2410.01925},
    year={2024},
    archivePrefix={arXiv},
    eprint={2410.01925},
    primaryClass={cs.RO}
}