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MIRA-PRM: Mission-Informed Reusable Roadmap Planning for Mobile Gas-Sensing Inspection

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

Mobile gas-sensing inspection requires a mobile platform to reliably reach ordered sampling poses. We present MIRA-PRM, a mission-informed probabilistic roadmap that combines geometry-, mission-flow-, and inspection-conditioned sampling with locally adaptive connectivity and evidence-gated refinement. Eight development campaigns comprising 142,448 planner runs evaluated mission scaling, repeated-query adaptation, finite node budgets, target distributions, local map repair, ablation, cross-family comparison, and parameter sensitivity. MIRA-PRM maintained 100% seed-level success as ordered targe

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