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Author

Akshay Naik

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Preprint Sep 2026

VCTP: Vehicle-Conditioned Terrain Planning for Off-Road Navigation

A vehicle's heading affects both the surfaces beneath its tires and its pitch and roll. We present Vehicle-Conditioned Terrain Planning (VCTP), which retains these relationships by evaluating shared elevation and surface-ID layers at eight headings. Body geometry constrains admissibility, while loaded wheel contacts de...

Akshay Naik, R. Sreenivas, Dustin Nottage et al. · 0 citations

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