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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Computer Science

Background:

  • Safe operation planning is crucial for mobile robots.
  • Diverse definitions and algorithmic approaches exist for risk assessment in robotics.
  • Understanding traversability risk is key for mobile robot navigation.

Purpose of the Study:

  • To review state-of-the-art approaches defining traversability risk for mobile robots.
  • To classify existing risk-aware navigation algorithms based on risk characterization.
  • To provide a structured overview of risk assessment formulations and metrics in robotics.

Main Methods:

  • Literature review of risk-aware navigation algorithms.
  • Classification of algorithms based on their risk characterization.
  • Overview of risk assessment formulations using traversability grid maps.
  • Discussion on the consistency of common risk metrics.

Main Results:

  • Categorization of various risk-aware navigation strategies.
  • Analysis of how traversability grid maps are used for path risk assessment.
  • Identification of different ways risk is quantified in mobile robotics.

Conclusions:

  • A structured overview of traversability risk assessment in mobile robotics is presented.
  • The review serves as a reference for practitioners and researchers in the field.
  • Future developments in risk-aware navigation can be inspired by this comprehensive analysis.