Centralized Multi-UAV Exploration and 3D Reconstruction Using Single-UAV Planners

arXiv:2609.40208 · cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Code: https://github.com/IRSg-ARG/UAV

Terminology

• Accuracy — 7× in this paper · explained in 1 episode
• Core — 7× in this paper · explained in 2 episodes
• Consistency — 5× in this paper · explained in 3 episodes
• Adaptation — 4× in this paper · explained in 1 episode
• Joint Start — 4× in this paper
• Robustness — 4× in this paper · explained in 5 episodes
• IEEE International Conference on Robotics and Automation — 3× in this paper
• Separated Start — 3× in this paper
• Autonomous Exploration Planner — 2× in this paper
• Full Exploration — 2× in this paper
• Truncated Signed Distance Field — 2× in this paper
• Clustering — 1× in this paper · explained in 2 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Cooperation — 1× in this paper · explained in 2 episodes
• Data Fusion — 1× in this paper · explained in 3 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Information Gain — 1× in this paper · explained in 2 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Rapidly-exploring Random Tree — 1× in this paper
• Root Mean Square Error — 1× in this paper

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