用虚拟红绿灯协调多机器人导航，既高效又防死锁。
Virtual Traffic Lights for Multi-Robot Navigation: Decentralized Planning with Centralized Conflict Resolution
- 每机器人自主规划路径，中心节点做冲突判断并发停指令。
- 仿真中任务成功率提升，死锁数量显著减少。
- 适合实际部署，已验证于四足与轮式机器人平台。
我们提出一种混合式多机器人协同框架，结合去中心化路径规划与集中式冲突解决。每个机器人自主规划路径并共享信息至中心节点；中心系统检测潜在冲突，仅允许一个冲突机器人通行，其余被指令在冲突区外停止，避免死锁。相比传统集中规划，本系统不强制指定路径，而是作为虚拟交通灯发出停行指令。仿真测试中，该方法提升了机器人抵达目标的成功率并减少了死锁。此外，我们在真实场景中成功验证了该系统：分别使用两只四足机器人和轮式Duckiebots进行实验。
原文摘要 · Abstract (English)
We present a hybrid multi-robot coordination framework that combines decentralized path planning with centralized conflict resolution. In our approach, each robot autonomously plans its path and shares this information with a centralized node. The centralized system detects potential conflicts and allows only one of the conflicting robots to proceed at a time, instructing others to stop outside the conflicting area to avoid deadlocks. Unlike traditional centralized planning methods, our system does not dictate robot paths but instead provides stop commands, functioning as a virtual traffic light. In simulation experiments with multiple robots, our approach increased the success rate of robots reaching their goals while reducing deadlocks. Furthermore, we successfully validated the system in real-world experiments with two quadruped robots and separately with wheeled Duckiebots.
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