Multi-UAV ExplorationIntermediate
Centralized Multi-UAV Exploration and 3D Reconstruction Using Single-UAV Planners
This is a preprint. The authors built a centralized multi-UAV exploration framework that lets existing single-UAV sampling-based planners work in a team by sharing a common TSDF map, filtering other robots from depth data, and checking inter-robot collisions. In simulation with three UAVs, separated start positions consistently beat joint starts; for example, KAEP reached 95% coverage of the school environment in 5.35 min vs 5.86 min from a joint start. The result matters because system-level integration, not new planner logic, can speed up exploration and improve robustness.