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

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/sk2spz3d114pc3ln74hafw4cc
- Original: https://arxiv.org/abs/2610.41456

## Summary

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.