SemSafe-3DGS: Semantic Risk-Aware Active Navigation in Uncertain 3D Gaussian Splatting Maps

arXiv:2609.19330 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Comments: Accepted to be presented at the SeMaNa 2026 Workshop at IROS 2026

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Active Perception — 15× in this paper · explained in 2 episodes
• Gaussian Splatting — 11× in this paper · explained in 4 episodes
• 3D Gaussian Splatting — 5× in this paper · explained in 2 episodes
• Fisher Information — 2× in this paper · explained in 3 episodes
• Information Gain — 2× in this paper · explained in 2 episodes
• 3D Gaussian Splatting (3DGS) — 1× in this paper · explained in 4 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Steering — 1× in this paper · explained in 2 episodes

Sources

• Conflict-Aware Active Perception and Control in 3D Gaussian Splatting Fields via Control Barrier Functions
• Multi-Agent Next-Best-View Optimization for Risk-Averse Planning
• Active Next-Best-View Optimization for Risk-Averse Path Planning
• Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting

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