Taking on the tall poles of autonomous robot navigation
2011
The Holy Grail of autonomous ground robotics has been to make ground vehicles that behave like humans. Over the
years, as a community, we have realized the difficulty of this task, and we have back pedaled from the initial Holy Grail
and have constrained and narrowed the domains of operation in order to get robotic systems fielded. This has lead to
phrases such as "operation in structured environments" and "open-and-rolling terrain" in the context of autonomous
robot navigation. Unfortunately, constraining the problem in this way has only put off the inevitable, i.e., solving the
myriad of difficult robotics problems that we identified as long ago as the 1980's on the Autonomous Land Vehicle
Project and in most cases are still facing today. These "Tall Poles" have included but are not limited to navigation
through complex terrain geometry, navigation through thick vegetation, the detection of geometry-less obstacles such as
negative obstacles and thin obstacles, the ability to deal with diverse and dynamic environmental conditions, the ability
to function in dynamic and cluttered environments alongside other humans, and any combination of the above. This
paper is an overview of the progress we have made at Autonomous Systems over the last three years in trying to knock
down some of the tall poles remaining in the field of autonomous ground robotics.
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