Autonomous Exploration on Autonomous Exploration Environment
300.24Exploration Time (s)mTARE Planner
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| mTARE PlannerPlanner=mTARE, Localization Method=Fast-LIO22026.06 | 300.24 | 1,611.83 | 68.34 | 96.6 | |
| Ours (Hierarchical) PlannerPlanner=Ours (Hierarchical), Localization Method=Ours (Loc.)2026.06 | 331.18 | 1,915.9 | 100 | 98.81 | |
| Ours (Hierarchical) PlannerPlanner=Ours (Hierarchical), Localization Method=Fast-LIO22026.06 | 337.43 | 1,927.47 | 99.91 | 98.76 | |
| Ours (Hierarchical) PlannerPlanner=Ours (Hierarchical), Localization Method=DCL-SLAM2026.06 | 349.56 | 2,012.31 | 98.34 | 98 | |
| mTARE PlannerPlanner=mTARE, Localization Method=DCL-SLAM2026.06 | 402.35 | 2,207.53 | 90.44 | 89.13 | |
| mTARE PlannerPlanner=mTARE, Localization Method=Ours (Loc.)2026.06 | 432.25 | 2,412.48 | 93.12 | 98.63 |