This illustration shows several agents exploring an unknown tree, represented here as a 2D maze. All agents start from the upper-left cell and progressively claim cells as they discover them. The controls let you update maze shapes, team sizes, and exploration strategies. For more theoretical background, see this paper.
Wilson : uniform spanning tree, D ~ N.
Recursive DFS : longer paths, D ~ N^(5/4).
Comb : difficult for CTE.
Binary Tree : biased carving (north/east), diagonal flows.
Random DFS independent DFSs with random tie-breaking. No-communication.
CTE Greedy algorithm. Agents go to nearest unfinished subtree. Accelerated version (using complete
communications).
LGA Locally greedy v3: reanchor with shared anchor counts.
OPT 2-approximation of offline algorithm. Full knowledge.
Try algorithm LGA with large number of robots (up to 50), max speeds, large N (up to 300), and shading unvisited nodes (see debug panel) to have nice (fractal) patterns emerge.