无人机通过运动轨迹传递信息，避免暴露无线电信号
Swarm sign language: motion-based communication between drones
- 用可动态实现的平面轨迹作为视觉通信信号
- 系统在真实环境与仿真中均能准确解码轨迹信息
- 适合需要隐蔽通信的无人机集群场景
在对隐身要求严格的群体机器人系统中，视觉通信为避免主动无线电传输被干扰提供了关键替代方案。本研究探索基于运动的非主动信息交换机制，采用模块化且动态可行的平面轨迹作为视觉提示。接收端无人机通过姿态估计算法追踪发送端姿态，并输入自研的3DTrajDecoder进行分类、分割以及尺寸和法向量的回归。为在包含通信与非通信轨迹的复杂数据上训练解码器，我们构建了可配置的在线程序化生成流水线。通过真实实验与仿真验证系统工作范围，并开展详尽消融实验，揭示架构选择与系统局限性。
原文摘要 · Abstract (English)
In stealth-constrained swarm robotics, visual communication provides a critical alternative to active radio transmissions, which might be jammed. This research investigates motion-based communication for non-active information exchange, utilizing modular, dynamically feasible planar trajectories as visual cues. On the receiver drone end, a pose estimator tracks the transmitting drone's pose, feeding it into our custom 3DTrajDecoder. The decoder is designed to classify and segment the spatiotemporal sequence while simultaneously regressing its size and normal vector. To robustly train the decoder on both communicative and non-communicative trajectories, we developed a configurable online procedural generation pipeline. We validate our system through real-world testing and simulation to define its operating domain, supported by an extensive ablation study detailing our architectural choices and system limitations.
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