@article{samplingbasedmotionplanningwithscenegrap,
  title = {Sampling-Based Motion Planning with Scene Graphs Under Perception Constraints},
  author = {Qingxi Meng and Emiliano Flores and Thai Duong and Vaibhav Unhelkar and Lydia E. Kavraki},
  year = {2026},
  eprint = {2603.03514},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.03514},
}