[
    {
        "id": "osp-26685",
        "type": "article-journal",
        "title": "DRT&R: Direct Radar Teach & Repeat",
        "author": [
            {
                "family": "Krawciw",
                "given": "Alexander"
            },
            {
                "family": "Lisus",
                "given": "Daniil"
            },
            {
                "family": "Gentil",
                "given": "Cedric Le"
            },
            {
                "family": "Barfoot",
                "given": "Timothy D."
            }
        ],
        "URL": "https://omanscience.com/en/articles/drt-r-direct-radar-teach-repeat",
        "language": "en",
        "issued": {
            "date-parts": [
                [
                    2026
                ]
            ]
        },
        "abstract": "Radar-based navigation is appealing for its robustness to adverse conditions involving airborne particles, such as precipitation, dust, fog, and smoke, that can cause lidar-based systems to fail. Recently, direct methods that retain and use the entire radar scan rather than sparse points have improved on-road global localization performance. However, they have yet to be deployed in off-road environments or in closed-loop systems. Additionally, even direct global maps may lose information: their global nature leads to a smoothing out of viewpoint-dependent radar artifacts, which can provide pose information when mapping and localization occur along similar trajectories. This paper introduces Direct Radar Teach & Repeat (DRT&R): a direct spinning radar-based navigation stack that maximizes the amount of retained information by combining direct radar processing with local mapping. DRT&R yields state-of-the-art (SOTA) localization performance in both on-road and off-road environments. Using 344 km of on-road data and 20 km of off-road data, DRT&R is able to localize to within 4 cm in most on-road and off-road conditions, and 12 cm in geometrically degenerate and sparse environments. DRT&R is also evaluated autonomously in closed loop with an MPC controller for more than 10 km using a Clearpath Warthog off-road vehicle, demonstrating that it runs in real time and achieves SOTA tracking performance for off-road radar navigation."
    }
]