ARGUS: A Framework for Risk-Aware Path Planning in Tactical UGV Operations

Nuno Soares; António Grilo

Home/Archive/arXiv

arXiv · 2511.07565

ARGUS: A Framework for Risk-Aware Path Planning in Tactical UGV Operations

Nuno Soares·António Grilo

View original source ↗Read source document ↗Export metadata ↓

Abstract

This thesis presents the development of ARGUS, a framework for mission planning for Unmanned Ground Vehicles (UGVs) in tactical environments. The system is designed to translate battlefield complexity and the commander's intent into executable action plans. To this end, ARGUS employs a processing pipeline that takes as input geospatial terrain data, military intelligence on existing threats and their probable locations, and mission priorities defined by the commander. Through a set of integrated modules, the framework processes this information to generate optimized trajectories that balance mission objectives against the risks posed by threats and terrain characteristics. A fundamental capability of ARGUS is its dynamic nature, which allows it to adapt plans in real-time in response to unforeseen events, reflecting the fluid nature of the modern battlefield. The system's interoperability were validated in a practical exercise with the Portuguese Army, where it was successfully demonstrated that the routes generated by the model can be integrated and utilized by UGV control systems. The result is a decision support tool that not only produces an optimal trajectory but also provides the necessary insights for its execution, thereby contributing to greater effectiveness and safety in the employment of autonomous ground systems.

Explore related subjects

eess.SY cs.RO cs.SY

Keep this discovery

Explore connections, maps & timelines

BibTeX RIS

Nuno Soares, António Grilo. 2025-11-10. ARGUS: A Framework for Risk-Aware Path Planning in Tactical UGV Operations. https://arxiv.org/abs/2511.07565

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related papers

arXiv2026

Ensuring Stability of Non-Minimal Modes in Input-Output Data-Driven Representation

Many recent data-driven control approaches for linear time-invariant systems are based on output trajectory prediction using input-output data matrices. The system dynamics described by this predictor, which we refer to as the input-output data-driven representation, yields non-unique autoregressive with exogenous inputs (ARX) models having possibly unstable non-minimal modes. In this note, we show that the stability of these non-minimal modes is ensured by a certain choice of ARX model, which coincides with the minimum-norm least-squares predictor using the Moore-Penrose inverse of the data matrix. This stability guarantee holds regardless of the underlying system's stability. Moreover, the stability persists under sufficiently small noise in data when a suitably truncated Moore-Penrose inverse is used. Consequently, the ARX model need not be reduced to the true system order in order to avoid unstable additional modes.

eess.SY↗

arXiv2026

Optimization-Based Formation Flight on Libration Point Orbits

A model predictive control (MPC) framework is developed for station-keeping in spacecraft formation flight along libration point orbits. At each control period, the MPC policy solves a multi-vehicle optimal control problem (MVOCP) that tracks a reference trajectory, while enforcing path constraints on the relative motion of the formation. The control policy makes use of a limited set of control nodes consistent with operational constraints that allow only a small number of maneuver opportunities per revolution. To promote recursive feasibility, path constraints are progressively tightened across the prediction horizon. An isoperimetric reformulation of the constraints is used to prevent inter-sample violations. The resulting MVOCP is a nonconvex program, which is solved via sequential convex programming. The proposed approach is evaluated in a high-fidelity ephemeris model under uncertainties for a formation along the near-rectilinear halo orbit (NRHO), and subject to path constraints on inter-spacecraft separation and relative Sun phase angle. The results demonstrate maintenance of a spacecraft formation that satisfies the path constraints with realistic cumulative propellant consumption.

eess.SY↗

arXiv2026

Certificates Synthesis for A Class of Observational Properties in Stochastic Systems: A Unified Approach

In this paper, we investigate the probabilistic formal verification of stochastic dynamical systems over continuous state spaces. Motivated by problems in state estimation and information-flow security, we introduce the notion of observational properties, which characterize the inferences an external observer can draw from system outputs. These properties are formulated as probabilistic hyperproperties based on HyperLTL over finite traces, yielding a unified framework that subsumes several existing notions studied separately in the literature. We reduce the verification problem to reachability analysis over an augmented structure that integrates the system dynamics with an automaton representation of the specification. Building on this construction, we develop stochastic barrier certificates that provide probabilistic guarantees for property satisfaction while avoiding explicit state-space discretization. The effectiveness of the proposed framework is demonstrated through a case study.

eess.SY↗