C2 Explorer

<div align="center"> <h1> <img src="assets/img/logo.png" alt="C2-Explorer Logo" width="70"/> C²-Explorer </h1> <h2>Contiguity-Driven Task Allocation with Connectivity-Aware Task Representation for Decentralized Multi-UAV Exploration</h2> <!-- <strong> Research Project / Preprint </strong> --> <!-- <br> --> <p align="center"> Xinlu Yan^1,*, <a href="https://zager-zhang.github.io" target="_blank">Mingjie Zhang</a>^2,3,*, Yuhao Fang¹, Yanke Sun¹, <a href="https://personal.hkust-gz.edu.cn/junma/people-page.html" target="_blank">Jun Ma</a>², <a href="https://homepage.hit.edu.cn/youmingong" target="_blank">Youmin Gong</a>¹, <a href="https://robotics-star.com/people" target="_blank">Boyu Zhou</a>^3,†, <a href="https://homepage.hit.edu.cn/meijie" target="_blank">Jie Mei</a>^1,†<br/>_&nbsp;<br/> ¹ Harbin Institute of Technology, Shenzhen<br/> ² The Hong Kong University of Science and Technology (Guangzhou)<br/> ³ Southern University of Science and Technology<br/> ^* Equal Contribution &nbsp;&nbsp; ^† Co-corresponding Authors </p> <a href="https://arxiv.org/abs/2603.07699" target="_blank"><img alt="Paper" src="https://img.shields.io/badge/Paper-arXiv-b31b1b?logo=arxiv&logoColor=white"/></a> <a href="https://www.bilibili.com/video/BV1U5N3zgE4p/?share_source=copy_web&amp;vd_source=1801a551da967e1db6162c2de1380d70" target="_blank"><img alt="Video" src="https://img.shields.io/badge/Video-Bilibili-FB7299?logo=bilibili&amp;logoColor=white"/></a> <a href="https://robotics-star.com/C2-Explorer/" target="_blank"><img alt="Project Page" src="https://img.shields.io/badge/Project_Page-Website-4A90E2?logo=googlechrome&logoColor=white"/></a> <br/> <p><em>Code will be released upon acceptance.</em></p> </div> <p align="center"> <img src="assets/img/cover.jpg" width="100%"/> </p> <p align="center"> C²-Explorer is a <strong><em>decentralized</em></strong> multi-UAV exploration framework to enhance <strong><em>flexible</em></strong> and <strong><em>contiguous</em></strong> task allocation. </p>

Motivations and Contributions

<p align="center"> <img src="assets/video/mov&con.gif" width="80%"/> </p>

Real-World Experiments

<p align="center"> <img src="assets/video/real-world.gif" width="80%"/> </p>

Benchmark Comparisons

<p align="center"> <img src="assets/video/bmk.gif" width="80%"/> </p>

Citation 📜

bibtexCopy
@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}, 
}