SEAMLiS: Visibility-Aware Safety for Perception-Limited Multi-Robot Exploration
SEAMLiS: Visibility-Aware Safety for Perception-Limited Multi-Robot Exploration
This research presents SEAMLiS, a modular execution-layer safety framework designed for decentralized multi-robot exploration in unknown environments.
The paper introduces SEAMLiS, a modular safety framework for multi-robot exploration that integrates perception-aware attitude and positional filters to address risks from limited sensing range and field of view.
Source: arXiv Robotics — research abstracts · Read original article ↗
Loading article text…
What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
- Control
- Reported autonomousOpen source S3
- paper: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
e sensor toward information gain rather than along the direction of motion, causing hidden obstacles to be detected too late for bounded-actuation avoidance. This paper presents SEAMLiS (Safe Exploration for Autonomous Multi-Robot Systems Under Limited Sensing), a modular execution-layer safety framework for decentralized multi-robot exploration. SEAMLiS preserves the upstream exploration stack, including the goal al
Open source S3
known obstacles, newly detected obstacles, and other robots. We provide sufficient collision-avoidance conditions and validate the framework in randomized simulation, Isaac Sim, and Crazyflie hardware experiments. Results show collision-free exploration across tested single- and multi-robot settings while retaining much of the efficiency of visibility-promoting yaw control.
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org