Autonomous Decentralized Shape-Based Navigation for Snake Robots in Dense Environments
Guillaume Sartoretti Tianyu Wang Gabriel Chuang Qingyang Li Howie Choset Guillaume Sartoretti Tianyu Wang Gabriel Chuang Qingyang Li Howie Choset
In this work, we focus on the autonomous navigation of snake robots in densely-cluttered environments, where collisions between the robot and obstacles are frequent, which could happen often in disaster scenarios, underground caves, or grassland/forest environments. This work takes the view that obstacles are not to be avoided, but rather exploited to support and direct the motion of the snake rob...