A multifractal terrain generation method that varies the fractal dimension of a high-frequency component controls terrain roughness and, in simulation, increases traversal difficulty for an autonomous ground vehicle.
Procedural modelling of terrains with constraints
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Multifractal Terrain Generation for Evaluating Autonomous Off-Road Ground Vehicles
A multifractal terrain generation method that varies the fractal dimension of a high-frequency component controls terrain roughness and, in simulation, increases traversal difficulty for an autonomous ground vehicle.