STAG: A Sparse Traversability-Aware Graph Representation from Grid-Based Costmaps for Robotic Navigation

arXiv:2610.11943 · cs.RO · Submitted 2026-10-08 · Read on arXiv

cs.RO

Submitted: 2026-10-08

Updated: 2026-10-08

Terminology

• Benchmark — 10× in this paper · explained in 2 episodes
• Abstraction — 7× in this paper · explained in 1 episode
• Ablation — 4× in this paper · explained in 1 episode
• Graph Construction — 3× in this paper · explained in 3 episodes
• Adaptive Graph — 1× in this paper · explained in 1 episode
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• Motion Primitives — 1× in this paper · explained in 2 episodes

Sources

• GVD-TG: Topological Graph based on Fast Hierarchical GVD Sampling for Robot Exploration
• Path Planning on Multi-level Point Cloud with a Weighted Traversability Graph

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