Author

Francesco Verdoja

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Preprint Sep 2026

An Information-Space Perspective to Scene Graph Sufficiency for Robotic Task Planning

This paper provides a formalization of what constitutes a sufficient scene graph for planning by modeling planning over scene graphs within an information-spaces framework through the definition of scene graph transition systems and relevant action semantics for navigation and manipulation.

Basak Sakçak, Francesco Verdoja · 0 citations

Robotics and Autonomous Systems

This is the first work that is able to recover the pose of an UAV at this scale and rate of convergence, while allowing significant seasonal difference between camera observations and map.

Jouko Kinnari, Riccardo Renzulli, Francesco Verdoja et al. · 0 citations