SCOPE: Field-of-View-Aware Path Planning in Unknown Space via Safety-Volume Certification

Under Review


Junbin Yuan1†, Muqing Cao1†, Yunwoo Lee1, Brady Moon2, Sebastian Scherer1
1Carnegie Mellon University, 2Brigham Young University
† Equal Contribution
arXiv

SCOPE enables safe navigation in unknown 3D space with a limited-field-of-view sensor: before the robot moves, the complete inflated volume of its motion must be observed and certified free. SCOPE pairs optimistic goal-directed guidance with certified execution, turning unknown space along the route into explicit observation tasks.

Abstract

Safe navigation with a body-mounted limited-field-of-view sensor requires the complete robot-inflated volume of an intended motion to be observed and verified free before execution. We formulate this requirement as online safety-volume certification in an unknown voxel map and construct a certified graph whose vertices correspond exactly to positions with fully known-free safety volumes. Based on this representation, we propose SCOPE (Safety Certification through Observation Planning and Execution), a planning framework that decouples optimistic goal-directed guidance from certified execution. SCOPE converts the first uncertified point along an optimistic route into an explicit observation obligation, resolves it through target-centric viewpoint search, and recursively clears intermediate obligations when useful viewpoints are not yet certified-reachable. A certified preview mechanism and an observation-aware trajectory optimization backend enable smooth execution. We prove conditional completeness: under ideal monotone sensing and exhaustive finite-domain graph search, SCOPE reaches the goal whenever a finite feasible sequence of certified sensing actions exists within its planning primitives. Across 100 randomized tasks in five unknown 3D environments, SCOPE reaches every goal while maintaining near-zero entry into non-certified inflated space, and an ablation shows that the certified preview mechanism reduces mean mission time by 27%. Finally, we validate the complete system through real-robot demonstrations in four scenarios.

Video

BibTeX

@article{yuan2026scope,
  title   = {SCOPE: Field-of-View-Aware Path Planning in Unknown Space via Safety-Volume Certification},
  author  = {Yuan, Junbin and Cao, Muqing and Lee, Yunwoo and Moon, Brady and Scherer, Sebastian},
  journal = {arXiv preprint arXiv:2608.04420},
  year    = {2026}
}