https://vlachos.science/tags/path-planning/Path PlanningHugo Blox Builder (https://hugoblox.com)enMon, 24 Aug 2026 00:00:00 +0000https://vlachos.science/media/icon_hu_2beab1606e98fa9.pnghttps://vlachos.science/tags/path-planning/https://vlachos.science/publication/vlachos-semantic-uav-2026/Mon, 24 Aug 2026 00:00:00 +0000https://vlachos.science/publication/vlachos-semantic-uav-2026/<h2 id="key-contributions">Key Contributions</h2> <ul> <li>An <strong>Effective Capacity</strong> metric that extends the radio map paradigm by weighting raw throughput with a material-dependent reliability coefficient, decoupling signal strength from link stability and exposing permeable vegetation corridors that signal-strength planners overlook.</li> <li>A <strong>two-layer planner</strong> comprising (i) a Semantically-Informed RRT backbone augmented with material-dependent reliability and capacity acceptance checks that prune expansion through multipath zones, and (ii) a gradient-based trajectory optimizer that deforms the path by balancing signal-seeking and reliability-seeking forces derived from the product-rule decomposition of ∇C_eff.</li> <li><strong>Hardware validation</strong> of the material ambiguity premise via characterization with a TI IWR6843AOP 60 GHz FMCW radar, confirming that radar alone cannot distinguish concrete from vegetation.</li> </ul>