Rahul H Kumar

SEAMLiS: Visibility-Aware Safety for Perception-Limited Multi-Robot Exploration

Taekyung Kim, Rahul H Kumar, Aswin D. Menon, Tzu-Hsiang Lin, Dimitra Panagou

Autonomous exploration in unknown environments is typically driven by informative frontiers, viewpoints, or trajectories, while local safety controllers avoid obstacles represented in the current map. Under finite sensing range and limited field of view, this separation can be un…Read more