Cover Image

SubTGraph: Large-Scale Subterranean Environment Synthesis with Controllable Topological Variability for Robotic Autonomy Validation

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Caso, F. Labra, Saradagi, A., Fredriksson, S., Nordström, S., Koval, A., Nikolakopoulos, G.
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Robotic Exploration through Semantic Topometric Mapping
by: Fredriksson, Scott, et al.
Published: (2024)

Voxel Map to Occupancy Map Conversion Using Free Space Projection for Efficient Map Representation for Aerial and Ground Robots
by: Fredriksson, Scott, et al.
Published: (2024)

GRID-FAST: A Grid-based Intersection Detection for Fast Semantic Topometric Mapping
by: Fredriksson, Scott, et al.
Published: (2024)

Fast Expanding Safe Circular Regions for Efficient Local Path Planning
by: Fredriksson, Scott, et al.
Published: (2026)

Multi-Agent Path Finding Using Conflict-Based Search and Structural-Semantic Topometric Maps
by: Fredriksson, Scott, et al.
Published: (2025)

How IMU Drift Influences Multi-Radar Inertial Odometry for Ground Robots in Subterranean Terrains
by: Mukherjee, Moumita, et al.
Published: (2026)

Deployment of an Aerial Multi-agent System for Automated Task Execution in Large-scale Underground Mining Environments
by: Dahlquist, Niklas, et al.
Published: (2025)

Modeling and Control of a Pneumatic Morphing Soft Quadrotor based on the SOFA Framework for Dynamic Soft Robotic Simulation
by: Caso, F. Labra, et al.
Published: (2026)

Environmental Awareness Dynamic 5G QoS for Retaining Real Time Constraints in Robotic Applications
by: Damigos, Gerasimos, et al.
Published: (2024)

Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments
by: Sankaranarayanan, Viswa Narayanan, et al.
Published: (2026)

A CBF-Adaptive Control Architecture for Visual Navigation for UAV in the Presence of Uncertainties
by: Sankaranarayanan, Viswa Narayanan, et al.
Published: (2024)

Efficient Real-time Smoke Filtration with 3D LiDAR for Search and Rescue with Autonomous Heterogeneous Robotic Systems
by: Kyuroson, Alexander, et al.
Published: (2023)

Aerial Inspection Behaviors via RL-based Quadrotor Control for Under-canopy Forest Environments
by: Suarez, Fausto Mauricio Lagos, et al.
Published: (2026)

DTAA: A Detect, Track and Avoid Architecture for navigation in spaces with Multiple Velocity Objects
by: Nordström, Samuel, et al.
Published: (2024)

A Time-dependent Risk-aware distributed Multi-Agent Path Finder based on A*
by: Nordström, S, et al.
Published: (2025)

A Heuristic Approach for Performance Tuning in RL-based Quadrotor Control via Reward Design and Termination Conditions
by: Suarez, Fausto Mauricio Lagos, et al.
Published: (2026)

Collision-free landing of multiple UAVs on moving ground vehicles using time-varying control barrier functions
by: Sankaranarayanan, Viswa Narayanan, et al.
Published: (2025)

Autonomous Point Cloud Segmentation for Power Lines Inspection in Smart Grid
by: Kyuroson, Alexander, et al.
Published: (2023)

An Adaptive Inspection Planning Approach Towards Routine Monitoring in Uncertain Environments
by: Viswanathan, Vignesh Kottayam, et al.
Published: (2025)

RecNet: An Invertible Point Cloud Encoding through Range Image Embeddings for Multi-Robot Map Sharing and Reconstruction
by: Stathoulopoulos, Nikolaos, et al.
Published: (2024)

Belief Scene Graphs: Expanding Partial Scenes with Objects through Computation of Expectation
by: Saucedo, Mario A. V., et al.
Published: (2024)

A Pointcloud Registration Framework for Relocalization in Subterranean Environments
by: Akhihiero, David, et al.
Published: (2025)

Barriers on the EDGE: A scalable CBF architecture over EDGE for safe aerial-ground multi-agent coordination
by: Sankaranarayanan, Viswa Narayanan, et al.
Published: (2024)

Curriculum-based Sample Efficient Reinforcement Learning for Robust Stabilization of a Quadrotor
by: Suarez, Fausto Mauricio Lagos, et al.
Published: (2025)

Role-Adaptive Collaborative Formation Planning for Team of Quadruped Robots in Cluttered Environments
by: Norén, Magnus, et al.
Published: (2026)

Toward RAPS: the Robot Autonomy Perception Scale
by: Silva, Rafael Sousa, et al.
Published: (2024)

Negotiating Control: Neurosymbolic Variable Autonomy
by: Bakirtzis, Georgios, et al.
Published: (2024)

TERA: A Simulation Environment for Terrain Excavation Robot Autonomy
by: Aluckal, Christo, et al.
Published: (2024)

Exploring Large Language Models to Facilitate Variable Autonomy for Human-Robot Teaming
by: Lakhnati, Younes, et al.
Published: (2023)

A Minimal Subset Approach for Informed Keyframe Sampling in Large-Scale SLAM
by: Stathoulopoulos, Nikolaos, et al.
Published: (2025)

Intuitive Human-Robot Interfaces Leveraging on Autonomy Features for the Control of Highly-redundant Robots
by: Torielli, Davide
Published: (2025)

The Sense of Agency in Assistive Robotics Using Shared Autonomy
by: Collier, Maggie A., et al.
Published: (2025)

Before Autonomy Takes Control: Software Testing in Robotics
by: Chur, Nils, et al.
Published: (2026)

The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
by: Dharmadhikari, Mihir, et al.
Published: (2026)

FRAME: A Modular Framework for Autonomous Map Merging: Advancements in the Field
by: Stathoulopoulos, Nikolaos, et al.
Published: (2024)

Stratified Topological Autonomy for Long-Range Coordination (STALC)
by: Duggan, Cora A., et al.
Published: (2025)

Cosserat Rod Modeling and Validation for a Soft Continuum Robot with Self-Controllable Variable Curvature
by: Wang, Xinran, et al.
Published: (2024)

Explaining Autonomy: Enhancing Human-Robot Interaction through Explanation Generation with Large Language Models
by: Sobrín-Hidalgo, David, et al.
Published: (2024)

Safety Inspections and Gas Monitoring in Hazardous Mining Areas Shortly After Blasting Using Autonomous UAVs
by: Samuel Nordström, et al.
Published: (2025)

Confidence-Gated Robot Autonomy: When Does Uncertainty Actually Help?
by: Gaus, Johannes A., et al.
Published: (2026)