TY - CHAP A1 - Philipp, Koch A1 - Marco, Steinbrink A1 - Stefan, May A1 - Andreas, Nuechter T1 - Traversability Analysis for Wheeled Robots using Point-Region-Quad-Tree based Elevation Maps T2 - 2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) N2 - 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. KW - robot navigation KW - traversability KW - autonomy KW - mapping KW - generic approach Y1 - 2022 U6 - https://doi.org/10.1109/icarsc55462.2022.9784803 PB - IEEE ER -