CASE 2026: Multi-Nonholonomic Robot Exploration with Line-of-Sight Maintenance in Unknown Environments

Weijian Zhang, Charlie Street, Masoumeh Mansouri

University of Birmingham

Overview

Features

• We develop a cooperative exploration framework that enables teams of nonholonomic robots to explore unknown environments while maintaining LoS connectivity.
• We incorporate LoS visibility constraints derived from onboard LiDAR observations directly into distributed trajectory optimization, allowing robots to generate dynamically feasible motions that maintain LoS connectivity while respecting collision and communication constraints.
• We validate our approach in both simulation and hardware.

Requirements

• ROS Noetic or later
• Ubuntu 20.04 or later

Installation

# Create a new workspace:
mkdir -p ~/CAMRE/src
cd ~/CAMRE/src
catkin_init_workspace

# Clone the package into the workspace
git clone git@github.com:HyPAIR/CAMRE.git

## Quick Start
```bash
# Build
cd ~/CAMRE
catkin_make

# Terminal 1 - Launch simulation & exploration framework
source devel/setup.bash
cd src/CAMRE
./env.sh

# Terminal 2 - Launch trajectory planner
source devel/setup.bash
cd src/CAMRE
./planner.sh

Video

A simulation and real-world experiments video demonstrating our proposed framework can be found at bilibili.

Acknowledgement

We build upon DDR-opt to achieve efficient distributed trajectory optimization. We use active_graph_slam for frontier detection, and LoS_constrained_navigation to generate visible regions.