{"id":"https://openalex.org/W7161148147","doi":"https://doi.org/10.48550/arxiv.2605.12735","title":"The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy","display_name":"The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy","publication_year":2026,"publication_date":"2026-05-12","ids":{"openalex":"https://openalex.org/W7161148147","doi":"https://doi.org/10.48550/arxiv.2605.12735"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.12735","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.12735","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.12735","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083948397","display_name":"Mihir Dharmadhikari","orcid":"https://orcid.org/0000-0002-4972-1744"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dharmadhikari, Mihir","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024717956","display_name":"Nikhil Khedekar","orcid":"https://orcid.org/0000-0002-1340-4894"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Khedekar, Nikhil","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136153584","display_name":"Mihir Kulkarni","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kulkarni, Mihir","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134751859","display_name":"Morten Nissov","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nissov, Morten","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078369478","display_name":"Martin Jacquet","orcid":"https://orcid.org/0000-0001-9438-4356"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jacquet, Martin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032570611","display_name":"Angelos Zacharia","orcid":"https://orcid.org/0000-0002-3234-6693"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zacharia, Angelos","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136147576","display_name":"Marvin Harms","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Harms, Marvin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107179073","display_name":"Albert Gassol Puigjaner","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Puigjaner, Albert Gassol","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136151613","display_name":"Philipp Weiss","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weiss, Philipp","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136120457","display_name":"Kostas Alexis","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alexis, Kostas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.36800000071525574,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.36800000071525574,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.24799999594688416,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.13619999587535858,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/blueprint","display_name":"Blueprint","score":0.6159999966621399},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6154000163078308},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5893999934196472},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5866000056266785},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5188999772071838},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.49570000171661377},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.4212999939918518},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.35749998688697815}],"concepts":[{"id":"https://openalex.org/C155911762","wikidata":"https://www.wikidata.org/wiki/Q422321","display_name":"Blueprint","level":2,"score":0.6159999966621399},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6154000163078308},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6100999712944031},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5893999934196472},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5866000056266785},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5633999705314636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5278000235557556},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5188999772071838},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.49570000171661377},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.4212999939918518},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3828999996185303},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.35749998688697815},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.32670000195503235},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32190001010894775},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3190000057220459},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.3158000111579895},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.299699991941452},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.2985000014305115},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.27730000019073486},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.2766000032424927},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.27129998803138733},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2702000141143799},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.2685999870300293},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2676999866962433},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.2676999866962433},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2623000144958496}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.12735","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.12735","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.12735","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.12735","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0],"introduce":[1],"and":[2,18,34,53,60,72,98,120,129,138,144,157,163,188,200],"open-source":[3,181],"the":[4,94,182,195,198,201],"Unified":[5],"Autonomy":[6],"Stack,":[7],"a":[8,150],"system-level":[9],"solution":[10],"that":[11,39],"enables":[12],"resilient":[13,170],"autonomy":[14],"across":[15,80],"diverse":[16],"aerial":[17,142],"ground":[19,145],"robot":[20],"morphologies.":[21],"The":[22,45,111,133],"architecture":[23],"centers":[24],"on":[25,93,140],"three":[26],"synergistic":[27],"modules":[28],"--":[29,38],"multi-modal":[30],"perception,":[31],"multi-behavior":[32],"planning,":[33],"multi-layered":[35,87],"safe":[36,88,115],"navigation":[37,89,117],"together":[40],"deliver":[41],"comprehensive":[42],"mission":[43],"autonomy.":[44],"stack":[46,134],"fuses":[47],"data":[48],"from":[49],"LiDAR,":[50],"radar,":[51],"vision,":[52],"inertial":[54],"sensing,":[55],"enabling":[56],"(a)":[57],"robust":[58],"localization":[59],"mapping":[61],"through":[62,76,91],"factor":[63],"graph-based":[64],"fusion,":[65],"(b)":[66],"semantic":[67],"scene":[68],"understanding,":[69],"(c)":[70],"motion":[71],"informative":[73],"path":[74],"planning":[75,92],"sampling-based":[77],"techniques":[78],"adaptive":[79],"spatial":[81],"scales,":[82],"as":[83,85],"well":[84],"(d)":[86],"both":[90,141],"online":[95],"reconstructed":[96],"map":[97],"deep":[99],"learning-driven":[100],"exteroceptive":[101],"policies":[102],"alongside":[103,184],"last-resort":[104],"safety":[105],"filters":[106],"using":[107],"control":[108],"barrier":[109],"functions.":[110],"resulting":[112],"behaviors":[113],"include":[114],"GNSS-denied":[116],"into":[118],"unknown":[119],"perceptually-degraded":[121],"regions,":[122],"exploration":[123],"of":[124,152,178,197],"complex":[125,161],"environments,":[126,154],"object":[127],"discovery,":[128],"efficient":[130],"inspection":[131],"planning.":[132],"has":[135],"been":[136],"field-tested":[137],"validated":[139],"(rotorcraft)":[143],"(legged)":[146],"robots":[147],"operating":[148],"in":[149,172],"host":[151],"demanding":[153],"including":[155],"self-similar":[156],"smoke-filled":[158],"settings,":[159],"with":[160],"geometries":[162],"high":[164],"obstacle":[165],"clutter.":[166],"These":[167],"tests":[168],"demonstrate":[169],"performance":[171],"challenging":[173],"conditions.":[174],"To":[175],"facilitate":[176],"ease":[177],"adoption,":[179],"we":[180],"implementation":[183],"supporting":[185],"documentation,":[186],"validation,":[187],"evaluation":[189],"datasets":[190],"https://github.com/ntnu-arl/unified_autonomy_stack.":[191],"A":[192],"video":[193],"giving":[194],"overview":[196],"paper":[199],"field":[202],"experiments":[203],"is":[204],"available":[205],"at":[206],"https://youtu.be/l8Su8OXsM-E.":[207]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-15T00:00:00"}
