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cs.RO2026
HOPHY: A Hierarchical Hypergraph Representation for Off-Road Path and Mission Planning
Pranay Meshram, Charuvahan Adhivarahan, Prithvi Poddar +4
Mission-level autonomy for disaster response, search and rescue, and tactical UGV operations requires repeated path and mission planning as terrain conditions, agent types, and obj…
cs.RO2026
CLEAR: A Semantic-Geometric Terrain Abstraction for Large-Scale Unstructured Environments
Pranay Meshram, Charuvahan Adhivarahan, Ehsan Tarkesh Esfahani +3
Long-horizon navigation in unstructured environments demands terrain abstractions that scale to tens of square kilometers while preserving semantic and geometric structure. Grids s…