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arXiv · 2607.18713

Confidence-Gated Vision-Only Heading Alignment for UAV-UGV Cooperative Systems

Reza Ahmari·Vahid Hemmati·Parham Kebria·Olusola Odeyomi·Kaushik Roy·Abdollah Homaifar
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Abstract

Vision-based heading prediction is useful for UAV--UGV cooperation, but accurate prediction alone does not guarantee that every predicted heading should be issued directly as a control command. This paper investigates the decision problem of when and how a fixed vision-based heading predictor should be trusted for command issuance. A lightweight confidence-gated framework is proposed in which execution decisions are made using two interpretable reliability proxies derived from the perception stream: bounding-box area as a visibility-related proxy and short-window variation in predicted heading as a stability-related proxy. During low-confidence intervals, the framework compares the baseline freeze-HOLD policy with a bounded-blend fallback that updates the issued command conservatively. The method is evaluated on a real UAV--UGV dataset under clean and perturbed conditions. The results show that confidence gating creates a clear trade-off among execution rate, executed-frame accuracy, issued-command accuracy, and smoothness. The results further show that sparse execution can cause severe stale-command error under the baseline freeze-HOLD policy, whereas the bounded-blend fallback substantially improves command-level behavior under the same gate decisions. These findings highlight that reliable perception-driven autonomy depends not only on prediction accuracy, but also on decision-aware command issuance during low-confidence

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Reza Ahmari, Vahid Hemmati, Parham Kebria, Olusola Odeyomi, Kaushik Roy, Abdollah Homaifar. 2026-07-21. Confidence-Gated Vision-Only Heading Alignment for UAV-UGV Cooperative Systems. https://arxiv.org/abs/2607.18713

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