4 papers · 1 filter
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…
PIVOT: Perception-aware Independent Viewpoint Online Optimization
Yuyang Chen, Shekoufeh Sadeghi, Charuvahan Adhivarahan +4
A fundamental assumption in robotic perception is that the sensor's field of view (FoV) is fixed relative to the robot body. Motion-decoupled sensors, such as gimbal-mounted camera…
Learning When to Jump for Off-road Navigation
Zhipeng Zhao, Taimeng Fu, Shaoshu Su +5
Low speed does not always guarantee safety in off-road driving. For instance, crossing a ditch may be risky at a low speed due to the risk of getting stuck, yet safe at a higher sp…
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…