Sampling-Based Motion Planning With Scene Graphs Under Perception Constraints

Q. Meng, E. Flores, T. Duong, V. Unhelkar, and L. E. Kavraki, “Sampling-Based Motion Planning With Scene Graphs Under Perception Constraints,” IEEE Robotics and Automation Letters, vol. 11, no. 5, pp. 5478–5485, Mar. 2026.