Degeneracy-Resilient Teach and Repeat for Geometrically Challenging Environments Using FMCW Lidar

arXiv:2603.10248 · cs.RO · Submitted 2026-03-10 · Read on arXiv

cs.RO

Submitted: 2026-03-10

Updated: 2026-09-15

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

Degeneracy — 82× in this paper · explained in 3 episodes
Robustness — 24× in this paper · explained in 5 episodes
Point Clouds — 10× in this paper · explained in 2 episodes
Ablation — 6× in this paper · explained in 1 episode
Accuracy — 6× in this paper · explained in 1 episode
Alignment — 6× in this paper · explained in 1 episode
Ablation study — 5× in this paper · explained in 1 episode
Clustering — 5× in this paper · explained in 2 episodes
Parking Lot Route — 5× in this paper
Consistency — 4× in this paper · explained in 3 episodes
Adaptation — 2× in this paper · explained in 1 episode
Ablation Studies — 1× in this paper · explained in 1 episode
Adaptive Weighting — 1× in this paper · explained in 1 episode
Decoupling — 1× in this paper · explained in 2 episodes
Feature Extraction — 1× in this paper · explained in 2 episodes
Frequency-Modulated Continuous-Wave — 1× in this paper
Maximum A Posteriori — 1× in this paper
Point Cloud Data — 1× in this paper · explained in 2 episodes
Redundancy — 1× in this paper · explained in 2 episodes
Regularization — 1× in this paper · explained in 3 episodes
Sparsity — 1× in this paper · explained in 4 episodes

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