Charuvahan Adhivarahan

This work presents HOPHY (Hierarchical Off-road Planning using Hypergraphs), a reusable hierarchical terrain representation that organizes map-scale terrain into geometrically connected semantic regions (GSNodes), connectivity-preserving critical regions (Coarse Regions), and typed hyperedges for terrain, agent, and weather context.

PIVOT is proposed, a lightweight iterative method that optimizes sensor viewing direction along a fixed translation trajectory to maximize feature visibility and improves visual localization robustness and practical viewpoint control on a quadruped robot.