多机器人协同搜救中，通过动态调度提升续航与覆盖效率。
REACT: Multi Robot Energy-Aware Orchestrator for Indoor Search and Rescue Critical Tasks
- 基于实时数据协同规划路径，减少重复移动
- 探索效率提升10%，97%覆盖率（限时）接近100%（宽松时限）
- 适合应急搜救、智能工厂等高危环境的机器人部署
智能工厂虽提升生产效率与可持续性，但人为失误、设备故障或自然灾害等突发事件仍带来重大风险。在火灾或地震等紧急情况下，协作机器人可进入受损建筑搜寻幸存者，协助救援人员降低损失。不同于以往忽略能耗管理的方法，本文提出REACT——一种智能能源感知协调器，优化探索阶段，延长机器人运行时间并提升区域覆盖效果。该方案利用配备先进传感器与通信能力的多机器人集群，在如火灾或地震后的高障碍密度智能工厂等未知室内环境中进行探索与导航。通过实时数据共享与协作算法，机器人可动态调整路径，减少冗余动作，降低能耗。大量仿真结果表明，本方法显著提升了复杂室内环境下搜救任务的效率与可靠性：相比现有方法，探索率提升10%；在时间紧迫条件下实现97%的地图覆盖率，放宽时间约束后接近100%。
原文摘要 · Abstract (English)
Smart factories enhance production efficiency and sustainability, but emergencies like human errors, machinery failures and natural disasters pose significant risks. In critical situations, such as fires or earthquakes, collaborative robots can assist first-responders by entering damaged buildings and locating missing persons, mitigating potential losses. Unlike previous solutions that overlook the critical aspect of energy management, in this paper we propose REACT, a smart energy-aware orchestrator that optimizes the exploration phase, ensuring prolonged operational time and effective area coverage. Our solution leverages a fleet of collaborative robots equipped with advanced sensors and communication capabilities to explore and navigate unknown indoor environments, such as smart factories affected by fires or earthquakes, with high density of obstacles. By leveraging real-time data exchange and cooperative algorithms, the robots dynamically adjust their paths, minimize redundant movements and reduce energy consumption. Extensive simulations confirm that our approach significantly improves the efficiency and reliability of search and rescue missions in complex indoor environments, improving the exploration rate by 10% over existing methods and reaching a map coverage of 97% under time critical operations, up to nearly 100% under relaxed time constraint.
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