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This article establishes the Exploration-RRT algorithm: A novelgeneral-purpose combined exploration and pathplanning algorithm, based on amulti-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT(ERRT) has been specifically designed for utilization in 3D explorationmissions, with partially or completely unknown and unstructured environments.The novel proposed ERRT is based on a multi-objective optimization frameworkand it is able to take under consideration the potential information gain, thedistance travelled, and the actuation costs, along trajectories topseudo-random goals, generated from considering the on-board sensor model andthe non-linear model of the utilized platform. In this article, the algorithmicpipeline of the ERRT will be established and the overall applicability andefficiency of the proposed scheme will be presented on an application with anUnmanned Aerial Vehicle (UAV) model, equipped with a 3D lidar, in a simulatedoperating environment, with the goal of exploring a completely unknown area asefficiently and quickly as possible

Exploration-RRT: A multi-objective Path Planning and Exploration Framework for Unknown and Unstructured Environments