# HEHA: Bounded Suboptimal Constrained Path Planning for Heterogeneous Multi-Robot Exploration of Unknown Environments

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/uc14ybl0u6n83wcv2ojf12c1i
- Original: https://arxiv.org/abs/2510.04161

## Summary

HEHA (Hierarchical Exploration with Heterogeneous Agents) proposes a hierarchical framework that uses a new routing algorithm, RCH (Routing with Constraints and Heterogeneity), to quickly solve large-scale multiple Hamiltonian path problems (mHPP) with traversability constraints, assigning areas to be explored to drones, wheeled robots, and legged robots and determining the order in which those areas are visited.