多机器人系统自主开采废弃矿井，解决狭小危险环境作业难题。
Underground Multi-robot Systems at Work: a revolution in mining
- 用分层有限状态机实现异构机器人协同任务执行
- 通过机器人间通信触发行为，完成连续采矿流程
- 适合地下矿井救援与资源回收场景
全球对关键原材料（CRMs）的需求不断增长，推动对废弃地下矿井等复杂危险环境的开发。这些区域因空间受限、结构不稳定且缺乏基础设施，传统机械与人工难以作业。为此，我们提出一种模块化多机器人系统，支持在该类环境中自主运行，完成连续矿物开采任务。不同于以往以全局行为或中心控制为主的测绘与巡检研究，本方案引入专用机器人实现物理交互，通过局部高层行为控制实现协调。系统采用分层有限状态机（HFSM）结构化管理异构平台的复杂任务执行，各机器人拥有独立的HFSM以实现顺序自主性，同时通过机器人间通信触发行为切换，达成整体系统协同。该架构有效融合软硬件组件，支撑在狭小地下环境中协作、任务驱动的多机器人操作。
原文摘要 · Abstract (English)
The growing global demand for critical raw materials (CRMs) has highlighted the need to access difficult and hazardous environments such as abandoned underground mines. These sites pose significant challenges for conventional machinery and human operators due to confined spaces, structural instability, and lack of infrastructure. To address this, we propose a modular multi-robot system designed for autonomous operation in such environments, enabling sequential mineral extraction tasks. Unlike existing work that focuses primarily on mapping and inspection through global behavior or central control, our approach incorporates physical interaction capabilities using specialized robots coordinated through local high-level behavior control. Our proposed system utilizes Hierarchical Finite State Machine (HFSM) behaviors to structure complex task execution across heterogeneous robotic platforms. Each robot has its own HFSM behavior to perform sequential autonomy while maintaining overall system coordination, achieved by triggering behavior execution through inter-robot communication. This architecture effectively integrates software and hardware components to support collaborative, task-driven multi-robot operation in confined underground environments.
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