[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-86455-en":3,"doc-seo-86455-105":30,"detail-sidebar-cat-0-en-105":92},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":20,"is_deleted":4,"is_public":21,"is_downloadable":21,"audit_status":21,"page_count":22,"language":23,"language_code":24,"site_id":25,"html_lang":24,"table_of_contents":26,"faqs":27,"seo_title":13,"seo_description":14,"update_tm":28,"read_time":29},86455,2336464648322,"Aria","https://ap-avatar.wpscdn.com/avatar/2200025388227c56fec?_k=1778556882303663488",8,"Research & Report","SEAMLiS Visibility-Aware Safety for Perception-Limited Multi-Robot Exploration","Autonomous exploration in unknown environments often relies on informative frontiers, viewpoints, or trajectories, while local safety controllers avoid obstacles only using the current map. With finite sensing range and limited field of view, separating exploration efficiency from safety becomes unsafe: exploration can be planned optimistically through unobserved space, steering sensing toward information gain rather than the motion direction. SEAMLiS introduces a modular execution-layer safety framework for decentralized multi-robot exploration. It preserves the upstream goal allocator and local planner while enforcing safety using perception-aware attitude and positional filters that provide collision-avoidance guarantees and experimental validation.","SEAMLiS: Visibility-Aware Safety for Perception-Limited Multi-Robot Exploration  \nTaekyung Kim 1 , Rahul H Kumar1 , Aswin D. Menon2 , Tzu-Hsiang Lin3 , Dimitra Panagou 1 ,2  \narXiv :2607 .09959v1 [ cs .RO] 10 Jul 2026  \nAbstract—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 hidden obstacles to be detected too late for bounded-actuation avoidance. This paper presents SEAMLiS (Safe Exploration for Autonomous Multi-Robot Systems Under Limited Sensing), a modular execution-layer safety framework for decentralized multi-robot exploration. SEAMLiS preserves the upstream exploration stack, including the goal allocator and local planner, and enforces safety at the execution layer through perception-aware attitude and positional filters. A gatekeeperbased attitude filter switches between a visibility-promoting yaw policy and a velocity-tracking backup policy to preserve visibility of the critical known-free/unknown boundary with sufficient braking margin. A Control Barrier Function (CBF) -based positional filter then avoids known obstacles, newly detected obstacles, and other robots. We provide sufficient collisionavoidance conditions and validate the framework in randomized simulation, Isaac Sim, and Crazyflie hardware experiments. Results show collision-free exploration across tested single- and multi-robot settings while retaining much of the efficiency of visibility-promoting yaw control. [Code][Project Page]1 [Video]  \nI. INTRODUCTION  \nExploration and mapping of unknown environments are fundamental capabilities for autonomous robots operating in unstructured workspaces. The objective is to incrementally construct a map while navigating safely, typically through a hierarchical autonomy stack consisting of localization and mapping, global exploration-goal selection, local planning, and feedback control. A seminal work [1] introduced frontiers, defined as boundaries between known-free and unknown regions, and established frontier-driven exploration as a canonical paradigm. Since then, extensive literature has sought to reduce exploration time by improving frontier selection and viewpoint planning, including heuristic frontier-selection methods [2]–[4], next-best-view strategies [5], and learning-assisted and learning-based approaches [6]–[11] .  \nMulti-robot exploration can further improve coverage speed by distributing the mapping task across multiple platforms. Practical deployments, however, often face severe communication constraints: sharing full occupancy grids or dense  \n1Department of Robotics, 2Department of Aerospace Engineering, 3Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, 48109, USA {taekyung, rahulhk, admenon, szlin, [dpanagou](dpanagou}@umich.edu)[}](dpanagou}@umich.edu)[@umich.edu](dpanagou}@umich.edu)  \n1 Project page: [https://www.taekyung.me/seamlis](https://www.taekyung.me/seamlis)  \nFig. 1: Motivating failure example for perception-limited robot exploration. A robot exploring an unknown environment steers its finite-FoV sensor toward information-rich regions, while its translational motion approaches an unseen obstacle. Because the direction of motion is not kept sufficiently visible, the hidden obstacle may be detected only after the remaining stopping distance has become insufficient, leading to a collision.  \nmaps can be bandwidth-intensive and brittle under packet loss. Consequently, many multi-robot systems are designed to bedecentralized, where robots share only limited information such as poses, topological summaries, or selected frontier candidates rather than complete maps ","cbCaicgW4o2sYqyn","https://ap.wps.com/l/cbCaicgW4o2sYqyn","pdf",9287247,5,1,17,"English","en",105,"# Introduction\n## Motivation and failure mode under limited sensing\n## Decentralized multi-robot exploration context\n## Overview of SEAMLiS and execution-layer safety approach","[{\"question\":\"Why can an exploration stack become unsafe under limited sensing and field of view?\",\"answer\":\"Unobserved space is often assumed collision-free, and an efficiency-driven yaw policy may steer sensing toward information gain instead of keeping the motion direction visible. Hidden obstacles can then be detected too late to guarantee bounded-actuation avoidance.\"},{\"question\":\"What is the core idea of SEAMLiS in decentralized multi-robot exploration?\",\"answer\":\"SEAMLiS acts as a modular execution-layer safety framework that preserves the upstream exploration stack while enforcing safety through perception-aware attitude and positional filtering.\"},{\"question\":\"How does SEAMLiS maintain visibility while still ensuring obstacle avoidance?\",\"answer\":\"A gatekeeper-based attitude filter switches between a visibility-promoting yaw policy and a velocity-tracking backup policy to preserve the visibility of the known-free/unknown boundary with adequate braking margin. A CBF-based positional filter then avoids known obstacles, newly detected obstacles, and other robots.\"}]",1784211836,43,{"code":4,"msg":31,"data":32},"ok",{"site_id":25,"language":24,"slug":33,"title":13,"keywords":34,"description":14,"schema_data":35,"social_meta":87,"head_meta":89,"extra_data":91,"updated_unix":28},"seamlis-visibility-aware-safety-for-perception-limited-multi-robot-exploration","",{"@graph":36,"@context":86},[37,54,69],{"@type":38,"itemListElement":39},"BreadcrumbList",[40,44,48,51],{"item":41,"name":42,"@type":43,"position":21},"https://docshare.wps.com","Home","ListItem",{"item":45,"name":46,"@type":43,"position":47},"https://docshare.wps.com/document/","Document",2,{"item":49,"name":12,"@type":43,"position":50},"https://docshare.wps.com/document/research-report/",3,{"item":52,"name":13,"@type":43,"position":53},"https://docshare.wps.com/document/seamlis-visibility-aware-safety-for-perception-limited-multi-robot-exploration/86455/",4,{"url":52,"name":13,"@type":55,"author":56,"headline":13,"publisher":58,"fileFormat":61,"inLanguage":24,"description":14,"dateModified":62,"datePublished":63,"encodingFormat":61,"isAccessibleForFree":64,"interactionStatistic":65},"DigitalDocument",{"name":9,"@type":57},"Person",{"url":41,"name":59,"@type":60},"DocShare","Organization","application/pdf","2026-07-27","2026-07-16",true,{"@type":66,"interactionType":67,"userInteractionCount":20},"InteractionCounter",{"@type":68},"ViewAction",{"@type":70,"mainEntity":71},"FAQPage",[72,78,82],{"name":73,"@type":74,"acceptedAnswer":75},"Why can an exploration stack become unsafe under limited sensing and field of view?","Question",{"text":76,"@type":77},"Unobserved space is often assumed collision-free, and an efficiency-driven yaw policy may steer sensing toward information gain instead of keeping the motion direction visible. Hidden obstacles can then be detected too late to guarantee bounded-actuation avoidance.","Answer",{"name":79,"@type":74,"acceptedAnswer":80},"What is the core idea of SEAMLiS in decentralized multi-robot exploration?",{"text":81,"@type":77},"SEAMLiS acts as a modular execution-layer safety framework that preserves the upstream exploration stack while enforcing safety through perception-aware attitude and positional filtering.",{"name":83,"@type":74,"acceptedAnswer":84},"How does SEAMLiS maintain visibility while still ensuring obstacle avoidance?",{"text":85,"@type":77},"A gatekeeper-based attitude filter switches between a visibility-promoting yaw policy and a velocity-tracking backup policy to preserve the visibility of the known-free/unknown boundary with adequate braking margin. 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