提出机器人协同框架，让城市中多机器人安全协作过马路。
Multi-Robot Coordination in V2X Environments
- 用机器人感知与动作协调消息实现去中心化协作
- 实测证明人形与四足机器人可协同助行人过街
- 适合智能交通、自动驾驶等场景的机器人部署
本文提出一种车联网（V2X）通信框架，支持复杂城市交通环境中社交机器人间的去中心化协作。基于ETSI合作感知与动作协调服务，引入两个面向机器人的设施层服务：机器人感知服务（RAS）和机器人动作协调服务（RMCS），分别通过机器人感知消息（RAM）和机器人动作协调消息（RMCM）实现。RAS支持角色感知、任务导向的机器人状态共享，并将外部检测到的弱势道路使用者（VRUs，包括非V2X行人）纳入协同感知范围；RMCS在明确角色基础上实现事件驱动、低延迟的动作协调，无需中央基础设施或预先配对。一个真实世界原型验证了人形机器人与四足机器人在行人过街场景中的确定性多机器人协作，由形式化定义的有限状态协调模型控制。补充仿真评估了混合V2X环境下机器人辅助的VRU聚类效果，结果显示基于RAS的聚类能有效整合非V2X VRU，同时减少V2X VRU的冗余传输，降低信道负载。整体方案为未来协同自动化出行生态中集成协作机器人提供了可扩展且符合标准的基础。
原文摘要 · Abstract (English)
This paper presents a Vehicle-to-Everything (V2X) communication framework that enables decentralized cooperation among social robots operating in complex urban traffic environments. Building on ETSI Cooperative Awareness and Maneuver Coordination services, the framework introduces two robot-centric facility-layer services: the Robot Awareness Service (RAS) and the Robot Maneuver Coordination Service (RMCS), realized through the Robot Awareness Message (RAM) and the Robot Maneuver Coordination Message (RMCM), respectively. RAS enables role-aware, task-oriented robot awareness while integrating externally detected Vulnerable Road Users (VRUs), including non-V2X pedestrians, into cooperative awareness. RMCS supports event-driven, low-latency coordination of robot maneuvers under explicitly established roles, without centralized infrastructure or prior pairing. A real-world proof of concept demonstrates deterministic multi-robot coordination between a humanoid robot and a quadrupedal robot assisting a pedestrian during a road-crossing scenario, governed by a formally specified finite-state coordination model. Complementary simulations evaluate robot-mediated VRU clustering in mixed V2X environments, showing that RAS-based clustering integrates non-V2X VRUs in safety-critical areas while reducing redundant transmissions from V2X-enabled VRUs, thereby lowering channel load. Together, the proposed services provide a scalable and standards-aligned foundation for integrating cooperative robots into future Connected, Cooperative, and Automated Mobility ecosystems.
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