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cs.RO2026
FLASH-CBF-RRT: Fast Lipschitz-Adaptive Safe Horizon CBF Steering for Certified Motion Planning
Mani Amani, Hesam Mojtahedi, Reza Akhavian +2
Fast motion planning requires both sample-efficient exploration and computationally efficient local steering. Conventional straight-line steering is inexpensive but wastes samples…
cs.RO2025
BIM-Discrepancy-Driven Active Sensing for Risk-Aware UAV-UGV Navigation
Hesam Mojtahedi, Reza Akhavian
This paper presents a BIM-discrepancy-driven active sensing framework for cooperative navigation between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in dyna…
cs.RO2025
GLIDE: A Coordinated Aerial-Ground Framework for Search and Rescue in Unknown Environments
Seth Farrell, Chenghao Li, Henrik I. Christensen
We present a cooperative aerial-ground search-and-rescue (SAR) framework that pairs two unmanned aerial vehicles (UAVs) with an unmanned ground vehicle (UGV) to achieve rapid victi…