{"paper":{"title":"Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ali-akbar Agha-mohammadi, Joshua Ott, Muhammad Fadhil Ginting, Mykel J. Kochenderfer, Oriana Peltzer, Sunggoo Jung, Sung-Kyun Kim","submitted_at":"2023-04-02T22:25:35Z","abstract_excerpt":"To achieve autonomy in unknown and unstructured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is crucial for safe and efficient robot navigation in environment with mobility-stressing elements that require terrain-specific locomotion policies. We propose the Semantic Belief Graph (SBG), a geometric- and semantic-based representation of a robot's probabilistic roadmap in the environment. The SBG nodes comprise of the robot geometric state and the semantic-knowledge of the terrains in the environment. The SBG edges represent local sem"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2304.00645","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2304.00645/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}