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

Jul 14, 2026

SEAMLiS is a modular safety framework designed for decentralized multi-robot exploration in environments where robots have limited sensing range and field of view. The framework introduces a gatekeeper-based attitude filter and a Control Barrier Function-based positional filter to maintain collision-free operation without sacrificing exploration efficiency. SEAMLiS operates as an execution-layer safety module, preserving the upstream exploration stack, and is validated through simulation and hardware experiments.

Why it matters: This work addresses a critical safety gap in multi-robot exploration by preventing collisions that can occur due to optimistic planning in unobserved spaces, which is essential for reliable real-world deployment.

Full story at: arXiv Robotics ↗