Perception-Aware Communication-Free Multi-UAV Coordination in the Wild

Abstract

We present a communication-free method for safe multi-robot coordination in complex environments such as forests with dense canopy cover, where GNSS is unavailable. Our approach relies on an onboard anisotropic 3D LiDAR sensor used for SLAM as well as for detecting obstacles and neighboring robots. We develop a novel perception-aware 3D navigation framework that enables robots to safely and effectively progress toward a goal region despite limited sensor field-of-view. The approach is evaluated through extensive simulations across diverse scenarios and validated in real-world field experiments, demonstrating its scalability, robustness, and reliability.