  In this paper, we propose a new framework for multi-agent collaborative
exploration of unknown environments. The proposed method combines
state-of-the-art algorithms in mapping, safe corridor generation and
multi-agent planning. It first takes a volume that we want to explore, then
proceeds to give the multiple agents different goals in order to explore a
voxel grid of that volume. The exploration ends when all voxels are discovered
as free or occupied, or there is no path found for the remaining undiscovered
voxels. The state-of-the-art planning algorithm uses time-aware Safe Corridors
to guarantee intra-agent collision safety as well safety from static obstacles.
The presented approach is tested in a state of the art simulator for up to 4
agents.

Robotics