用激光同时给移动机器人供电和通信，实现无电池运行。
Set Phasers to Stun: Beaming Power and Control to Mobile Robots with Laser Light
- 激光束精准追踪移动机器人，融合视觉定位与高功率光束控制。
- 在数米距离下实现超110 mW/cm²的光功率密度与无误码通信。
- 支持克级微型机器人高速运行，适合无人系统远程供电场景。
我们提出 Phaser 系统，通过窄束激光为移动机器人实现无线供能与通信的同步传输。设计半自动校准流程，融合双目视觉三维定位与高功率光束指向控制，并采用低功耗光学通信方案，复用激光作为数据信道。使用现成硬件制作原型，在无电池自主机器人上进行测试。Phaser 在多米距离下实现超过110 mW/cm²的光功率密度与无误码数据传输，板载解码仅消耗0.3 mA电流（比蓝牙低能耗省电97%）。实验证明，Phaser 可完全驱动克级无电池机器人，运行速度接近前人工作的两倍，同时实现避障与路径导航。代码、开源设计指南及演示视频见 https://mobilex.cs.columbia.edu/phaser。
原文摘要 · Abstract (English)
We present Phaser, a flexible system that directs narrow-beam laser light to moving robots for concurrent wireless power delivery and communication. We design a semi-automatic calibration procedure to enable fusion of stereo-vision-based 3D robot tracking with high-power beam steering, and a low-power optical communication scheme that reuses the laser light as a data channel. We fabricate a Phaser prototype using off-the-shelf hardware and evaluate its performance with battery-free autonomous robots. Phaser delivers optical power densities of over 110 mW/cm$^2$ and error-free data to mobile robots at multi-meter ranges, with on-board decoding drawing 0.3 mA ($97\%$ less current than Bluetooth Low Energy). We demonstrate Phaser fully powering gram-scale battery-free robots to nearly 2x higher speeds than prior work while simultaneously controlling them to navigate around obstacles and along paths. Code, an open-source design guide, and a demonstration video of Phaser is available at https://mobilex.cs.columbia.edu/phaser.
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