arxivcs.RO2026-07-01
SE(2) Navigation Mesh
Shuyang Shi, Kaixian Qu, Changan Chen, Ines Kast, Yuntao Ma, Marco Hutter
Global navigation for ground robots in complex multi-level environments requires representations that accurately capture traversable regions while enabling efficient path planning. Current approaches present key limitations: Point clouds and volumetric occupancy maps lack explici…