Pith Number

pith:F7GIKXW3

pith:2026:F7GIKXW34NVUJIGN6BLG2NL7PD

not attested not anchored not stored refs pending

Enhancing Multi-Robot Exploration Using Probabilistic Frontier Prioritization with Dirichlet Process Gaussian Mixtures

John Lewis Devassy, M\'ario A. T. Figueiredo, Meysam Basiri, Pedro U. Lima

A Dirichlet process Gaussian mixture model ranks frontiers probabilistically to improve multi-robot exploration efficiency.

arxiv:2604.03042 v2 · 2026-04-03 · cs.RO

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Add to your LaTeX paper

\usepackage{pith}
\pithnumber{F7GIKXW34NVUJIGN6BLG2NL7PD}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

The proposed enhancement, integrated into two state-of-the-art multi-agent exploration algorithms, consistently improves performance across environments of varying clutter, communication constraints, and team sizes. Simulations showcase an average gain of 10% and 14% for the two algorithms across all combinations.

C2weakest assumption

That the DP-GMM probabilistic formulation of information gain reliably produces superior frontier rankings compared to the baseline algorithms without introducing unaccounted computational costs or failures in real-world sensor noise.

C3one line summary

DP-GMM based probabilistic frontier prioritization enhances two multi-agent exploration algorithms with average gains of 10% and 14% in simulations across varied conditions and real dual-drone tests.

Receipt and verification

First computed	2026-06-05T01:15:23.408616Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2fcc855edbe36b44a0cdf0566d357f78de26e923178fba8c3016b47d6d8e00fc

Aliases

arxiv: 2604.03042 · arxiv_version: 2604.03042v2 · doi: 10.48550/arxiv.2604.03042 · pith_short_12: F7GIKXW34NVU · pith_short_16: F7GIKXW34NVUJIGN · pith_short_8: F7GIKXW3

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/F7GIKXW34NVUJIGN6BLG2NL7PD \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 2fcc855edbe36b44a0cdf0566d357f78de26e923178fba8c3016b47d6d8e00fc

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0986d4ff6248b56ccba6aedf786d8afd06c23c26ef53a7708557783ba010d05b",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-03T13:51:23Z",
    "title_canon_sha256": "5962fa033649b57f1ebed0d5ee432e74ce13cf9ae6fc893a7b3556a2109ea0a8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.03042",
    "kind": "arxiv",
    "version": 2
  }
}