Co-GLANCE: Uncertainty-Aware Active Perception for Heterogeneous Robot Teaming
Perceptual uncertainty is a central challenge for heterogeneous robot teams operating in unstructured outdoor environments, where no single viewpoint affords reliable scene understanding. Perceptual uncertainty, arising from sources such as occlusions, manifests differently across robot viewpoints depending on scene structure. Detecting and resolving sources of perceptual uncertainty requires both scene-based contextual reasoning and capability-aware robot allocation. While vision-language models provide strong semantic priors for both, they are computationally prohibitive for onboard inference and lack calibrated uncertainty quantification. We introduce Co-GLANCE, a real-time onboard per...
| Authors | Michal P. Podolinsky, Neel P. Bhatt, Pranay Samineni et al. |
|---|---|
| Primary category | cs.LG |
| Published | 7 June 2026 |
| Last updated at source | 7 June 2026 |
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