多机器人搜救系统与6G通信协同设计，提升应急响应效率
Strengthening Multi-Robot Systems for SAR: Co-Designing Robotics and Communication Towards 6G
- 将机器人与通信系统联合优化，支持边缘云架构下的实时协作
- 实测中实现低延迟SLAM与多模式机器人导航，保障救援路径规划
- 适合应急救援、智能交通等对实时性要求高的场景
本文基于实地搜救任务测试，提出移动机器人与通信系统协同设计方法，支撑基于5G独立组网（SA）的边缘-云端架构。通过构建混合无线传感器网络（H-WSNs）用于风险与受困者探测，将智能手机集成至机器人操作系统（ROS）作为边缘设备处理任务请求与路径规划，利用多接入边缘计算（MEC）实现实时同步定位与建图（SLAM），并部署无人地面车辆（UGVs）在多种导航模式下执行受困者撤离。实验由真实救援人员参与，验证了在复杂通信条件下，通过网络切片保障关键服务运行的必要性。研究揭示了6G技术需解决的架构需求、经验教训与挑战，以增强应急响应能力。
原文摘要 · Abstract (English)
This paper presents field-tested use cases from Search and Rescue (SAR) missions, highlighting the co-design of mobile robots and communication systems to support Edge-Cloud architectures based on 5G Standalone (SA). The main goal is to contribute to the effective cooperation of multiple robots and first responders. Our field experience includes the development of Hybrid Wireless Sensor Networks (H-WSNs) for risk and victim detection, smartphones integrated into the Robot Operating System (ROS) as Edge devices for mission requests and path planning, real-time Simultaneous Localization and Mapping (SLAM) via Multi-Access Edge Computing (MEC), and implementation of Uncrewed Ground Vehicles (UGVs) for victim evacuation in different navigation modes. These experiments, conducted in collaboration with actual first responders, underscore the need for intelligent network resource management, balancing low-latency and high-bandwidth demands. Network slicing is key to ensuring critical emergency services are performed despite challenging communication conditions. The paper identifies architectural needs, lessons learned, and challenges to be addressed by 6G technologies to enhance emergency response capabilities.
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