2025
A Hierarchical Graph-Based Terrain-Aware Autonomous Navigation Approach for Complementary Multimodal Ground-Aerial Exploration
Akash Patel, Mario Alberto Valdes Saucedo, Nikolaos Stathoulopoulos, Viswa Narayanan Sankaranarayanan, Ilias Tevetzidis, Christoforos Kanellakis +1
ICRA 2025
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a hierarchical graph to represent the environment, encoding both geometri