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

arXiv:2609.20694 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Terminology

• Abstraction — 24× in this paper · explained in 1 episode
• Hypergraph — 11× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Task Planning — 2× in this paper · explained in 2 episodes
• Cooperation — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• International Conference on Automation Science and Engineering — 1× in this paper
• North American Land Change Monitoring System — 1× in this paper
• Reinforcement Learning — 1× in this paper · explained in 4 episodes

Sources

• ARGUS: A Framework for Risk-Aware Path Planning in Tactical UGV Operations
• TRG-planner: Traversal Risk Graph-Based Path Planning in Unstructured Environments for Safe and Efficient Navigation
• TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation
• AnyNav: Visual Neuro-Symbolic Friction Learning for Off-road Navigation
• Hypergraph-based Multi-Robot Task and Motion Planning

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