{"paper":{"title":"Multi-Floor Exploration for Ground Robots via an Incremental Reachable Graph and Structural Priors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Boyu Zhou, Jiaqi Chen, Meiqi Hu, Xiangyi Huang, Zhiwen Zhu","submitted_at":"2026-05-22T08:13:19Z","abstract_excerpt":"Autonomous exploration of multi-floor buildings remains challenging for ground robots because conventional 2D and 2.5D maps cannot represent overlapping traversable surfaces such as stairs, ramps, and multiple reachable elevations. This letter presents a multi-floor exploration framework based on an incremental reachable graph. Built as a sparse graph over reachable support surfaces, the graph preserves potentially valid connectivity through tentative graph elements under sparse observations and enables stable, physically reachable frontier detection. To guide exploration beyond the currently "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.23350","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.23350/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}