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Decentralized Multi-Robot Exploration with Probabilistic Peer Intent and Multi-hop Plan Propagation

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

Efficient coordination under limited communication remains a key challenge in decentralized multi-robot exploration. While centralized approaches benefit from global information sharing, they are often impractical in large-scale or communication-constrained environments. Existing Monte Carlo Tree Search (MCTS)-based approaches, such as Decentralized Monte Carlo Exploration (DMCE), enable decentralized planning by taking peer intent into account. This peer intent is obtained by communicating sequences of planned waypoints with robots within direct communication range. In this work, we extend th

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