The QUADRIVIO project aims at developing a low-cost unmanned ground vehicle for search and rescue missions in hazardous areas, possibly after a natural disaster. To achieve this challenging goal the project develops:

• a virtual rider, a low-level stabilization system, including roll/tip-over prevention and obstacle avoidance mechanisms, that makes the vehicle autonomous at least for short range navigation;
• a path planner that finds the best path in presence of rough and sloping terrains, taking into account the vehicle kinematic and dynamic constraints;
• an ATV tracking controller that, acting on steer, throttle and brakes, tracks the desired path, ensuring the vehicle stability QUADRIVIO is a national project founded by the Lazio region (FILAS program).