Temporally-Sampled Efficiently Adaptive State Lattices for Autonomous Ground Robot Navigation in Partially Observed Environments - 2026-02-13 - Research Publication - Physical Warthog trials and Warthog map data evaluate a regional-planner arbitration method designed to reduce unsafe route oscillation in partially observed terrain. - source: arxiv.org
Kinodynamic Motion Planning for Mobile Robot Navigation across Inconsistent World Models - 2025-09-30 - Research Publication - Off-road Warthog field experiments compare motion planners that account for inconsistent obstacle maps across successive planning cycles. - source: arxiv.org
Incorporating Stochastic Models of Controller Behavior into Kinodynamic Efficiently Adaptive State Lattices for Mobile Robot Motion Planning in Off-Road Environments - 2025-08-06 - Research Publication - Warthog field trials test stochastic controller models inside an off-road kinodynamic state-lattice planner under two perception pipelines. - source: arxiv.org
Robotic Exploration using Generalized Behavioral Entropy - 2024-02-15 - Research Publication - A ROS-Unity Warthog simulation compares behavioral entropy with Shannon and Renyi entropy for frontier-based robotic exploration. - source: arxiv.org