arXiv cs.RO·· 6 days agoAI score62
Uncertainty-Triggered Aerial Refinement for Off-Road Navigation
Summary
The paper proposes a planner-conditioned air-ground assistance method that evaluates how map uncertainty affects the UGV's current MPPI rollouts. When navigation remains degraded, it re-scores the same rollouts under resolved map hypotheses, selects the map layer whose request yields the largest improvement, requests the corresponding aerial measurement, and fuses it to replan.
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Source: arXiv cs.RO · arxiv.org
Perception and localizationPlanning and decision makingData and simulationResearch papers#Research#Planning and decision-making#Perception and localization#Data and simulation
Part of the event: Air-Ground Collaborative Navigation: Uncertainty-Triggered Aerial Refinement