SEAMLiS: Visibility-Aware Safety for Perception-Limited Multi-Robot Exploration

arXiv:2607.09959v1 Announce Type: new Abstract: Autonomous exploration in unknown environments is typically driven by informative frontiers, viewpoints, or trajectories, while local safety controllers avoid obstacles represented in the current map. Under finite sensing range and limited field of view, this separation can be unsafe: an exploration stack may plan optimistically through unobserved space and steer the sensor toward information gain rather than along the direction of motion, causing ...