# Meeting-Merging-Mission: A Multi-robot Coordinate Framework for Large-Scale Communication-Limited Exploration

arXiv: https://arxiv.org/abs/2109.07764 · HTML: https://mlsanity.com/paper/2109.07764/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Sep 2021.

## Built on by (most cited first, 6 of 6)

- [ActiveGS: Active Scene Reconstruction Using Gaussian Splatting](https://mlsanity.com/paper/2412.17769/) (2024)
- [Large Language Models for Multi-Robot Systems: A Survey](https://mlsanity.com/paper/2502.03814/) (2025)
- [PIMbot: Policy and Incentive Manipulation for Multi-Robot Reinforcement Learning in Social Dilemmas](https://mlsanity.com/paper/2307.15944/) (2023)
- [Communication- and Computation-Efficient Distributed Submodular Optimization in Robot Mesh Networks](https://mlsanity.com/paper/2407.10382/) (2024)
- [PIMbot: A Self-Adaptive Attack Framework for Adversarial Manipulation of Multi-Robot Reinforcement Learning](https://mlsanity.com/paper/2605.23027/) (2026)
- [PRIMER: Perception-Aware Robust Learning-based Multiagent Trajectory Planner](https://mlsanity.com/paper/2406.10060/) (2024)

## Abstract (arXiv)

This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction. Considering communication is limited in both bandwidth and range in the real world, we propose a lightweight environment presentation method and an efficient cooperative exploration strategy. For lower bandwidth, each robot utilizes specific polytopes to maintains free space and super frontier information (SFI) as the source for exploration decision-making. To reduce repeated exploration, we develop a mission-based protocol that drives robots to share collected information in stable rendezvous. We also design a complete path planning scheme for both centralized and decentralized cases. To validate that our framework is practical and generic, we present an extensive benchmark and deploy our system into multi-UGV and multi-UAV platforms.