This paper presents a decentralized graph-based exploration and inspection framework for Multi-Robot Systems, designed to address challenges in subterranean and largescale environments. Unlike prior works that focus solely on exploration or inspection, this framework integrates volumetric exploration, semantic inspection, and dynamic task allocation into a unified decentralized system. A key novelty of this work is the seamless integration of these modules in a multi-robot setting, allowing UAVs to autonomously coordinate their tasks without relying on centralized control. The framework employs a hierarchical graph structure, utilizing a dense local graph for immediate navigation and a sparse global graph for long-term planning and repositioning. Extensive simulations in large-scale complex-shaped environments demonstrate that the proposed approach improves the completeness of the generated maps, reduces inconsistencies in the constructed mesh, and accelerates the overall exploration-inspection process compared to existing decentralized strategies.
Graph-Based Decentralized Exploration and Semantic Inspection for Multi-Robot Systems
14.05.2025
4974136 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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