Cooperative 3D Exploration and Mapping using Distributed Multi-Robot Teams

Exploring and mapping unknown environments pose significant challenges in robotics, especially with large and intricate landscapes. In this paper, we present a novel framework for distributed Multi-Robot Systems (MRS) that leverages the 3D movement capabilities of Unmanned Aerial Vehicles (UAVs) equipped with 3D LiDAR sensors for the rapid exploration of unknown environments. Our approach uniquely integrates the strengths of frontier-based exploration and Next-Best-View (NBV) planning, offering a comprehensive strategy for MRS. Through experiments conducted in a simulated environment with up to three UAVs, our exploration planner and cooperative strategy have been validated. The results showcase successful exploration of complex 3D environments using both single and multiple UAVs. Furthermore, they demonstrate a significant reduction in exploration time and individual travel distance when employing multiple robots, thereby leading to optimized battery resource usage. This work contributes to the expanding field of cooperative MRS, offering valuable insights and a robust basis for future investigations.