6 papers
xFLIE: Leveraging Actionable Hierarchical Scene Representations for Autonomous Semantic-Aware Inspection Missions
Vignesh Kottayam Viswanathan, Mario A. V. Saucedo, Sumeet Gajanan Satpute +2
We present a novel architecture aimed towards incremental construction and exploitation of a hierarchical 3D scene graph representation during semantic-aware inspection missions. I…
SPADE: Towards Scalable Path Planning Architecture on Actionable Multi-Domain 3D Scene Graphs
Vignesh Kottayam Viswanathan, Akash Patel, Mario Alberto Valdes Saucedo +3
In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path plann…
An Actionable Hierarchical Scene Representation Enhancing Autonomous Inspection Missions in Unknown Environments
Vignesh Kottayam Viswanathan, Mario Alberto Valdes Saucedo, Sumeet Gajanan Satpute +2
In this article, we present the Layered Semantic Graphs (LSG), a novel actionable hierarchical scene graph, fully integrated with a multi-modal mission planner, the FLIE: A First-L…
A Hierarchical Graph-Based Terrain-Aware Autonomous Navigation Approach for Complementary Multimodal Ground-Aerial Exploration
Akash Patel, Mario A. V. Saucedo, Nikolaos Stathoulopoulos +4
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This…
Leveraging Computation of Expectation Models for Commonsense Affordance Estimation on 3D Scene Graphs
Mario A. V. Saucedo, Nikolaos Stathoulopoulos, Akash Patel +2
This article studies the commonsense object affordance concept for enabling close-to-human task planning and task optimization of embodied robotic agents in urban environments. The…
Estimating Commonsense Scene Composition on Belief Scene Graphs
Mario A. V. Saucedo, Vignesh Kottayam Viswanathan, Christoforos Kanellakis +1
This work establishes the concept of commonsense scene composition, with a focus on extending Belief Scene Graphs by estimating the spatial distribution of unseen objects. Specific…