@inproceedings{PhilippMarcoStefanetal.2022, author = {Philipp, Koch and Marco, Steinbrink and Stefan, May and Andreas, Nuechter}, title = {Traversability Analysis for Wheeled Robots using Point-Region-Quad-Tree based Elevation Maps}, series = {2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)}, booktitle = {2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)}, publisher = {IEEE}, doi = {10.1109/icarsc55462.2022.9784803}, pages = {6}, year = {2022}, abstract = {This publication describes a novel approach to generic robot navigation using elevation maps based on pointregion-Quadtrees. The described approach plans optimized trajectories in dependency of the robot's morphology by detecting and rating obstacles. This is achieved by tailoring the tree based elevation map to the robot's design. The approach and the related work, it is based on, is described in detail, experiments are provided, which verify the results.}, language = {en} }