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PAANI : On Device Visual Evidence Fusion and Explainable Guidance for River Robot Simulation

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

Mobile river monitoring robots must interpret obstacles and water boundaries that geographic waypoints alone cannot describe. On resource constrained platforms, converting imperfect visual predictions into timely and inspectable guidance is a distinct challenge. An object label or steering command does not explain which evidence supports a decision or when that evidence is unreliable. We present PAANI, an on-device perception to guidance architecture that combines a project trained YOLO11n detector and a custom MobileNetV3 Small semantic segmenter with timestamp aligned evidence fusion on Ardu

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