Abstract: This paper proposes a multi-UAV cooperative exploration approach based on task-density space partition. In the research of multi-UAV cooperative exploration, it is a prevalent cooperative scheme to control robots to work independently in partitioned spaces. Nonetheless, only considering the position of robots during space partition cannot effectively ensure the overall cooperative efficiency. According to research on task density of current time points and positions of robots during exploration, robots with fewer task points are assigned to work in spaces with more tasks in the rolling horizon optimization planning mode, which can reduce the redundancy of multi-robot cooperative work. Comparative research suggests that the overall exploration efficiency is improved.

Key words: exploration of unknown environments, multi-UAV cooperation, rolling horizon planning, task density, space partition