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This work presents a 3D multi-robot exploration framework for a team of UGVsmoving on uneven terrains. The framework was designed by casting the two-levelcoordination strategy presented in [1] into the context of multi-robotexploration. The resulting distributed exploration technique minimizes andexplicitly manages the occurrence of conflicts and interferences in the robotteam. Each robot selects where to scan next by using a receding horizonnext-best-view approach [2]. A sampling-based tree is directly expanded onsegmented traversable regions of the terrain 3D map to generate the candidatenext viewpoints. During the exploration, users can assign locations with higherpriorities on-demand to steer the robot exploration toward areas of interest.The proposed framework can be also used to perform coverage tasks in the case amap of the environment is a priori provided as input. An open-sourceimplementation is available online.

3D Multi-Robot Exploration with a Two-Level Coordination Strategy and Prioritization