3 papers
cs.RO2026
SemSafe-3DGS: Semantic Risk-Aware Active Navigation in Uncertain 3D Gaussian Splatting Maps
Amirhossein Mollaei Khass, Athanasios Cosse, Nader Motee
Autonomous robots operating in partially observed environments must navigate safely while acquiring observations that improve future planning. Existing safety formulations generall…
cs.RO2026
Multi-Agent Next-Best-View Optimization for Risk-Averse Planning
Amirhossein Mollaei Khass, Vivek Pandey, Guangyi Liu +3
Multi-agent Next-Best-View (NBV) selection for safe path planning in uncertain and unknown environments requires informative, safety-aware, and efficient coordination. Centralized…
cs.RO2026
Conflict-Aware Active Perception and Control in 3D Gaussian Splatting Fields via Control Barrier Functions
Amirhossein Mollaei Khass, Athanasios Cosse, Vivek Pandey +1
Active perception in uncertain environments requires robots to navigate safely while acquiring informative observations to reduce map uncertainty. These objectives inherently confl…