C²-Explorer

Contiguity-Driven Task Allocation with Connectivity-Aware Task Representation for Decentralized Multi-UAV Exploration

Xinlu Yan^1,*, Mingjie Zhang^2,3,*, Yuhao Fang¹, Yanke Sun¹, Jun Ma², Youmin Gong¹, Boyu Zhou^3,†, Jie Mei^1,†
 
1 Harbin Institute of Technology, Shenzhen
² The Hong Kong University of Science and Technology (Guangzhou)
³ Southern University of Science and Technology
^* Equal Contribution    ^† Co-corresponding Authors

Code will be released upon acceptance.

@misc{yan2026c2explorer,
      title={C$^2$-Explorer: Contiguity-Driven Task Allocation with Connectivity-Aware Task Representation for Decentralized Multi-UAV Exploration}, 
      author={Xinlu Yan and Mingjie Zhang and Yuhao Fang and Yanke Sun and Jun Ma and Youmin Gong and Boyu Zhou and Jie Mei},
      year={2026},
      eprint={2603.07699},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2603.07699}, 
}