4 papers
Decentralized Multi-Robot Exploration with Probabilistic Peer Intent and Multi-hop Plan Propagation
Saurbh Singh Jamwal, Nived Chebrolu, Shivaram Kalyanakrishnan
Efficient coordination under limited communication remains a key challenge in decentralized multi-robot exploration. While centralized approaches benefit from global information sh…
PerSeM: Persistent Semantic Memory for Long-Horizon Open-Vocabulary UAV Mapping
Saurbh Singh Jamwal, Ganesh Ramakrishnan
Open-vocabulary segmentation enables rich semantic perception for UAVs, but frame-wise predictions can remain temporally inconsistent across repeated observations and changing view…
Learning to Fly: Stable Vision-Guided UAV Servoing with Compact Target-Centric Cues and Reinforcement Learning
Saurbh Singh Jamwal, Nived Chebrolu
Vision-guided reinforcement learning for Unmanned Aerial Vehicles (UAVs) remains challenging due to unstable policy optimisation, aggressive exploration, and the cost of high-dimen…
Understanding Temporal Semantic Stability in Open-Vocabulary UAV Perception through Metric 3D Fusion
Saurbh Singh Jamwal
Recent open-vocabulary segmentation models have significantly advanced semantic perception for UAVs, for aerial and remote-sensing imagery, yet predictions from moving platforms ca…