English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper presents the implementation of off-road navigation on leggedrobots using convex optimization through linear transfer operators. Given atraversability measure that captures the off-road environment, we lift thenavigation problem into the density space using the Perron-Frobenius (P-F)operator. This allows the problem formulation to be represented as a convexoptimization. Due to the operator acting on an infinite-dimensional densityspace, we use data collected from the terrain to get a finite-dimensionapproximation of the convex optimization. Results of the optimal trajectory foroff-road navigation are compared with a standard iterative planner, where weshow how our convex optimization generates a more traversable path for thelegged robot compared to the suboptimal iterative planner.

Off-Road Navigation of Legged Robots Using Linear Transfer Operators