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Purpose of Review Multi-robot exploration-i.e., the problem of mapping unknown features of an environment-is fundamental in many tasks, including search and rescue, planetary exploration, and environmental monitoring. This article surveys recent literature with the aim at identifying current research trends, open challenges, and future directions. Recent Findings Since the first formalization of the exploration problem, current research has extended systems and algorithms to map 3D environmentsdoi:10.1007/s43154-020-00030-5 fatcat:ryasgbxoyfgtvehhzbfnespeie