When to Ask for Help: Uncertainty-Triggered Aerial Refinement for Off-Road Navigation
Overview
This research introduces a method for heterogeneous air-ground teams where aerial sensing addresses ground-vehicle sensor limitations. The approach evaluates how uncertain map information affects the UGV's current MPPI rollouts and requests aerial measurements only when resolving uncertainty improves predicted navigation. Across 180 simulation trials on three off-road routes, the method achieves 98.9% goal attainment while reducing mean UAV flight time by 87.7% relative to continuous greedy aerial mapping. Field experiments spanning approximately 2 km of UGV operation demonstrate successful navigation recovery.
Generated from attributed reports · Updated 3 days ago
Event evidence and corrections
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Environment: simulation
“edicted ground navigation. Across 180 simulation trials on three off-road routes, the method achieves 98.9% goal attainment while reducing mean UAV flight time by 87.7% relative to continuous greedy aerial mapping. Aggregated across the routes, each second of estimated UAV flight time saves 2.94 s of UGV navigation time. Field experiments spanning approximately 2 km of UGV operation demonstrate uncertainty resolution”
Exact source · revision 1Source owner not reported
Reported quantity · UGV navigation time saved per UAV second: 2.94 other · Basis not reported
“edicted ground navigation. Across 180 simulation trials on three off-road routes, the method achieves 98.9% goal attainment while reducing mean UAV flight time by 87.7% relative to continuous greedy aerial mapping. Aggregated across the routes, each second of estimated UAV flight time saves 2.94 s of UGV navigation time. Field experiments spanning approximately 2 km of UGV operation demonstrate uncertainty resolution”
Exact source · revision 1Source owner not reported
Reported quantity · simulation trials count: 180 other · reported trials
“edicted ground navigation. Across 180 simulation trials on three off-road routes, the method achieves 98.9% goal attainment while reducing mean UAV flight time by 87.7% relative to continuous greedy aerial mapping. Aggregated across the routes, each second of estimated UAV flight time saves 2.94 s of UGV navigation time. Field experiments spanning approximately 2 km of UGV operation demonstrate uncertainty resolution”
Exact source · revision 1Source owner not reported
Reported quantity · UGV operation distance: 2 other · Basis not reported
“edicted ground navigation. Across 180 simulation trials on three off-road routes, the method achieves 98.9% goal attainment while reducing mean UAV flight time by 87.7% relative to continuous greedy aerial mapping. Aggregated across the routes, each second of estimated UAV flight time saves 2.94 s of UGV navigation time. Field experiments spanning approximately 2 km of UGV operation demonstrate uncertainty resolution”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalWhen to Ask for Help: Uncertainty-Triggered Aerial Refinement for Off-Road Navigation
This research introduces a method for heterogeneous air-ground teams where aerial sensing addresses ground-vehicle sensor limitations. The approach evaluates how uncertain map information affects the UGV's current MPPI rollouts and requests aerial measurements only when resolving uncertainty improves predicted navigation. Across 180 simulation trials on three off-road routes, the method achieves 98.9% goal attainment while reducing mean UAV flight time by 87.7% relative to continuous greedy aerial mapping. Field experiments spanning approximately 2 km of UGV operation demonstrate successful navigation recovery.
Event coverage history
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