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HOPHY: A Hierarchical Hypergraph Representation for Off-Road Path and Mission Planning

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Mission-level autonomy for disaster response, search and rescue, and tactical UGV operations requires repeated path and mission planning as terrain conditions, agent types, and objectives change. Pixel-grid search is costly for repeated kilometer-scale queries, while semantic abstractions must maintain valid costs and connectivity as conditions change. We present HOPHY (Hierarchical Off-Road Planning using Hypergraphs), a reusable hierarchical terrain representation that organizes map-scale terrain into geometrically connected semantic regions (GSNodes), connectivity-preserving critical region

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