Article

SAFARI: Semantic- and Frontier-Driven Autonomous Risk Inspection Framework

SAFARI treats object detection as a native channel of a unified probabilistic map, letting geometric and semantic evidence jointly drive exploration and planning. The authors completed 11 missions on a quadruped platform across three field sites, achieving an average coverage of 98.7% of the accessible mission area, with 97.6% of mission time requiring no operator intervention, and detecting objects with characteristic dimensions as small as 15 cm. Ablation experiments show that object-size awareness and safety-aware path planning are critical for hazardous-object search.

Part of the event: SAFARI Risk-Aware Autonomous Exploration Framework Released

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