SOURCE-LINKED INTELLIGENCE
Connectivity-Aware Graph Extension for Decentralized Multi-Robot Exploration
Exploring unknown environments with multiple UAVs requires coordination under intermittent communication, making decentralized operation a baseline assumption. We propose, within a decentralized framework, a novel exploration graph extension strategy based on frontier connectivity to extend exploration plans and maintain area partitioning among agents stable and robust to disconnections and changes in spatial layout. The proposed extension method is applied to two state-of-the-art area partitioning methods and evaluated in simulation. Experiments show improved performance over existing graph e
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-01T07:00:40.000Z
First collected: 2026-09-21T06:11:57.537Z. This is not the publication date.