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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2026
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| Accès en ligne: | https://arxiv.org/abs/2603.15108 |
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| _version_ | 1866908889169002496 |
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| author | Tian, Zhuoli Bao, Yanze Guo, Meng |
| author_facet | Tian, Zhuoli Bao, Yanze Guo, Meng |
| contents | Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical challenge, especially when the communication among the operator and robots is restricted. Unlike existing collaborative exploration methods that aim for complete coverage, this work focuses on task-oriented exploration to minimize the navigation time of the operator to reach its goal while ensuring safety under adversarial threats. A novel escorting framework BodyGuards, is proposed to explicitly integrate seamlessly collaborative exploration, inter-robot-operator communication and escorting. The framework consists of three core components: (I) a dynamic movement strategy for the operator that maintains a local map with risk zones for proactive path planning; (II) a dual-mode robotic strategy combining frontier based exploration with optimized return events to balance exploration, threat detection, and intermittent communication; and (III) multi-robot coordination protocols that jointly plan exploration and information sharing for efficient escorting. Extensive human-in-the-loop simulations and hardware experiments demonstrate that the method significantly reduces operator risk and mission time, outperforming baselines in adversarial and constrained environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_15108 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | BodyGuards: Escorting by Multiple Robots in Unknown Environment under Limited Communication Tian, Zhuoli Bao, Yanze Guo, Meng Robotics Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical challenge, especially when the communication among the operator and robots is restricted. Unlike existing collaborative exploration methods that aim for complete coverage, this work focuses on task-oriented exploration to minimize the navigation time of the operator to reach its goal while ensuring safety under adversarial threats. A novel escorting framework BodyGuards, is proposed to explicitly integrate seamlessly collaborative exploration, inter-robot-operator communication and escorting. The framework consists of three core components: (I) a dynamic movement strategy for the operator that maintains a local map with risk zones for proactive path planning; (II) a dual-mode robotic strategy combining frontier based exploration with optimized return events to balance exploration, threat detection, and intermittent communication; and (III) multi-robot coordination protocols that jointly plan exploration and information sharing for efficient escorting. Extensive human-in-the-loop simulations and hardware experiments demonstrate that the method significantly reduces operator risk and mission time, outperforming baselines in adversarial and constrained environments. |
| title | BodyGuards: Escorting by Multiple Robots in Unknown Environment under Limited Communication |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.15108 |