Author

Christopher Tatsch

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#artificial intelligence Preprint Aug 2026

SGE: Semantically-Guided Exploration for Unstructured Environments via Image-Space Waypoint Sampling

Semantically-Guided Exploration (SGE) is introduced, a modular exploration framework for ground vehicles that integrates pixel-level semantic segmentation into sampling-based waypoint selection and receding-horizon route optimization and introduces mechanisms to address real-world navigation uncertainty.

Christopher Tatsch, Yu Gu · 1 citation