Preprint
Nov 2026
When to Ask for Help: Uncertainty-Triggered Aerial Refinement for Off-Road Navigation
Heterogeneous air-ground teams can use aerial sensing to address the limited range and viewpoint of ground-vehicle sensors, but deciding when the UGV needs assistance and what information the UAV should collect remains a challenge. This paper presents a planner-conditioned air-ground assistance method that evaluates ho...
Pranay Samineni, Adam J. Thorpe, John Chubick et al.
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