Decentralized Scalable Exploration via Emergent Adaptive L\'evy Walks on Minimal-Sensing Platforms

arXiv:2607.25195v1 Announce Type: new Abstract: Efficient autonomous exploration with palm-sized nano-UAVs remains challenging due to severe limitations in sensing, computation, and flight endurance. We present a lightweight sensor-driven L\'evy walk (SDLW) controller for aerial robots weighing under 50 grams and equipped with sparse local sensing. The method combines discrete L\'evy step-length sampling with a sensor-reactive heading policy using directional range measurements. Each robot indep...