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C2-Explorer Logo C2-Explorer

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

Xinlu Yan1,*, Mingjie Zhang2,3,*, Yuhao Fang1, Yanke Sun1, Jun Ma2, Youmin Gong1, Boyu Zhou3,†, Jie Mei1,†
 
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

Paper Video Project Page

C2-Explorer is a decentralized multi-UAV exploration framework to enhance flexible and contiguous task allocation.

📢 News

  • [26/06/2026]: 👩‍💻 Release the main algorithm of C2-Explorer.
  • [16/06/2026]: 🎉 C2-Explorer is conditionally accepted to IROS 2026.

🤖 Real-World Experiments

🛠️ Installation

Prerequisites

This repository is organized as a ROS1 catkin workspace and is primarily tested with:

  • ROS Noetic (Ubuntu 20.04) or ROS Melodic (Ubuntu 18.04)
  • PCL
  • Eigen

For NLopt

git clone -b v2.7.1 https://github.com/stevengj/nlopt.git
cd nlopt
mkdir build
cd build
cmake ..
make
sudo make install

For LKH

wget http://akira.ruc.dk/~keld/research/LKH-3/LKH-3.0.6.tgz
tar xvfz LKH-3.0.6.tgz
cd LKH-3.0.6
make
sudo cp LKH /usr/local/bin

For MARSIM

sudo apt update
sudo apt install libglfw3-dev libglew-dev

Compilation

cd ${YOUR_WORKSPACE_PATH}
git clone https://github.com/Robotics-STAR-Lab/C2-Explorer.git
catkin_make

🚀 Quick Start

Launch RViz in one terminal:

source ./devel/setup.bash
roslaunch exploration_manager rviz.launch

Launch the simulator in another terminal:

source ./devel/setup.bash
roslaunch exploration_manager open_plan_office.launch

Note

  • Trigger with the 2D Nav Goal in Rviz when the terminal displays wait for trigger.

  • You can replace open_plan_office with other maps. We provide another two test scenarios: cubicle_office, octa_maze.

  • If you want to use your own .pcd, place the file under src/MARSIM/map_generator/resource and add the corresponding .yaml file under src/swarm_exploration/exploration_manager/config/maps.

✒️ Citation

@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}, 
}

🤓 Acknowledgments

We would like to express our gratitude to the following projects, which have provided significant support and inspiration for our work:

  • FALCON: An efficient framework for fast UAV exploration, from which our method for constructing topological maps draws inspiration.
  • RACER: A Rapid Exploration Framework for Multiple UAVs.
  • FUEL: An Efficient Framework for Fast UAV Exploration.
  • MARSIM: A Light-weight Point-realistic Simulator for LiDAR-based UAVs.