arxivcs.RO2026-07-10
Dec-MARVEL: Decentralized Multi-Agent Exploration without Communication under Budget Constraints
Janghyun Cho, Jimmy Chiun, Guillaume Sartoretti, Changjoo Nam
Multi-UAV exploration is often constrained by unreliable communication, limited field-of-view sensing (e.g., lightweight onboard camera), and finite travel budgets that require each robot to reserve enough budget to return to its base. We present Dec-MARVEL, a decentralized budge…