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.
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