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. An Actionable Hierarchical Scene Representation Enhancing Autonomous Inspection Missions in Unknown Environments. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025. pages 18415-18422, IEEE, 2025. [doi]

Abstract

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