@INPROCEEDINGS{6696431, 
author={F. Colas and S. Mahesh and F. Pomerleau and M. Liu and R. Siegwart}, 
booktitle={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems}, 
title={3D path planning and execution for search and rescue ground robots}, 
year={2013}, 
volume={}, 
number={}, 
pages={722-727}, 
abstract={One milestone for autonomous mobile robotics is to endow robots with the capability to compute the plans and motor commands necessary to reach a defined goal position. For indoor or car-like robots moving on flat terrain, this problem is well mastered and open-source software can be deployed to such robots. However, for many applications such as search and rescue, ground robots must handle three-dimensional terrain. In this article, we present a system that is able to plan and execute a path in a complex environment starting from noisy sensor input. In order to cope with the complexity of a high-dimensional configuration space, we separate position and configuration planning. We demonstrate our system on a search and rescue robot with flippers by climbing up and down a difficult curved staircase.}, 
keywords={control engineering computing;path planning;public domain software;rescue robots;terrain mapping;3D path execution;3D path planning;3D terrain;autonomous mobile robotics;car-like robots;configuration planning;configuration space;curved staircase climbing;endow robots;flat terrain;flippers;indoor robots;motor commands;open source software;search and rescue ground robots;Collision avoidance;Path planning;Planning;Robot sensing systems;Tensile stress;Three-dimensional displays}, 
doi={10.1109/IROS.2013.6696431}, 
ISSN={2153-0858}, 
month={Nov},}