Problem
Research questions and friction points this paper is trying to address.
decentralized operation
exploration graph extension
frontier connectivity
area partitioning
Connectivity-Aware Graph Extension for Decentralized Multi-Robot Exploration
🤖 AI Summary
针对多无人机在间歇通信下探索未知环境的问题，提出了一种基于前沿连通性的新型探索图扩展策略，以提高探索效率和稳定性。
📝 Abstract
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 extension approaches with higher exploration efficiency under low communication rate.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Connectivity-Aware
Graph Extension
Decentralized Multi-Robot Exploration
Frontier Connectivity
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