2025
An Actionable Hierarchical Scene Representation Enhancing Autonomous Inspection Missions in Unknown Environments
Vignesh Kottayam Viswanathan, Mario Alberto Valdes Saucedo, Sumeet Gajanan Satpute, Christoforos Kanellakis, George Nikolakopoulos
IROS 2025
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-Look based Inspection and Exploration planner [1]. The novelty of this work stems from aiming to address the task of main