SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments

Video created by Chen Changan
Paper: arxiv.org/abs/2306.05309
Code: github.com/leggedrobotics/smu...
Authors: Changan Chen, Jonas Frey, Philip Arm, Marco Hutter

[@RonLWilson]

There is another application for this in that it could be used for off-road vehicles to navigate over difficult terrain. This is a bit different tan say a robotaxi driving on a city street or open country rod where there is traffic and the vehicles are moving at high speed. But here in the off road environment traffic is not so much an issue or charging lanes and such but the off road vehicles are moving slowly and having to pick their way through rough terrain.
BTW, I have a number of videos on my UA-cam channel that give examples of use cases where one might need something like this tp have a bot drive a tank, truck, e-bike, or such off road.

[@TheRealityWarper08]

Great job! Can't wait to see it in action!

[@user-cd6xk5iy5h]

Really Impressive Work!