动态调整通信位置，让机器人团队高效协作探索受限环境
RF-Modulated Adaptive Communication Improves Multi-Agent Robotic Exploration
- 根据信号强度和数据量自动调节通信点，避免无效移动
- 比基线方法减少58%行进距离，探索速度提升52%
- 适合通信受限的复杂场景，如火星探测或搜救任务
在通信受限的多机器人探索环境中，可靠协同与高效通信是关键挑战。本文提出自适应射频传输（ART）算法，一种通信感知的规划方法，能根据信号强度和数据负载动态调节通信位置，使异构机器人团队在不进行无谓回溯的情况下高效共享信息。进一步扩展为ART-SST，强制设定信号强度阈值以保障高保真数据传输。通过三个洞穴模拟环境的480余次仿真验证，ART显著优于现有策略（包括全会合与最小信号启发式方法），在行进距离上最多减少58%，探索时间最快缩短52%。结果表明，具备负载感知的自适应通信可大幅提升复杂环境下的覆盖效率与任务速度，为未来行星探测和搜救任务提供有力支持。
原文摘要 · Abstract (English)
Reliable coordination and efficient communication are critical challenges for multi-agent robotic exploration of environments where communication is limited. This work introduces Adaptive-RF Transmission (ART), a novel communication-aware planning algorithm that dynamically modulates transmission location based on signal strength and data payload size, enabling heterogeneous robot teams to share information efficiently without unnecessary backtracking. We further explore an extension to this approach called ART-SST, which enforces signal strength thresholds for high-fidelity data delivery. Through over 480 simulations across three cave-inspired environments, ART consistently outperforms existing strategies, including full rendezvous and minimum-signal heuristic approaches, achieving up to a 58% reduction in distance traveled and up to 52% faster exploration times compared to baseline methods. These results demonstrate that adaptive, payload-aware communication significantly improves coverage efficiency and mission speed in complex, communication-constrained environments, offering a promising foundation for future planetary exploration and search-and-rescue missions.
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