Vaskevicius, NarunasBirk, Andreas2018-01-082018-01-0820112011https://dl.gi.de/handle/20.500.12116/11211Work in progress on efficient long range path-planning for unmanned ground vehicles (UGV) is presented. It builds upon own work on 3D mapping in unstructured environments, which uses large planar patches for representation and registration of range data. The planar patches allow a very fast assessment of drivability as indicated by experiments with several data-sets.3D simultaneous localization and mapping (SLAM)Mobile robotPath-planningText/Journal Article1610-1987