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Charuvahan Adhivarahan

المنشورات 2

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HOPHY: A Hierarchical Hypergraph Representation for Off-Road Path and Mission Planning

Pranay Meshram, Charuvahan Adhivarahan, Prithvi Poddar وآخرون · 2026

Mission-level autonomy for disaster response, search and rescue, and tactical UGV operations requires repeated path and mission planning as terrain conditions, agent types, and objectives change. Pixel-grid search is costly for repeated kilometer-scale queries, while semantic abstractions must maintain valid costs and …

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PIVOT: Perception-aware Independent Viewpoint Online Optimization

Yuyang Chen, Shekoufeh Sadeghi, Charuvahan Adhivarahan وآخرون · 2026

A fundamental assumption in robotic perception is that the sensor's field of view (FoV) is fixed relative to the robot body. Motion-decoupled sensors, such as gimbal-mounted cameras and MEMS-based LiDARs, instead allow sensing direction to be controlled independently at runtime. This freedom creates a computational cha …

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