Preprint Open access
STAG: A Sparse Traversability-Aware Graph Representation from Grid-Based Costmaps for Robotic Navigation
Autonomous rovers navigating large unstructured environments need efficient global planning that accounts for terrain traversability. However, searching dense grid-based costmaps becomes computationally expensive as the mapped area grows. We introduce STAG, a Sparse Traversability-Aware Graph that converts costmaps int …