DM$^3$-Nav: Decentralized Multi-Agent Multimodal Multi-Object Semantic Navigation
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866908990091296768 |
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| author | Kashiri, Amin Jamsandekar, Atharva Yazıcıoğlu, Yasin |
| author_facet | Kashiri, Amin Jamsandekar, Atharva Yazıcıoğlu, Yasin |
| contents | We present DM$^3$-Nav, a fully decentralized multi-agent semantic navigation system supporting multimodal open-vocabulary goal specification and multi-object missions. In our setting, decentralization implies operation without a central coordinator, global map aggregation, or shared global state at runtime. Robots operate autonomously and coordinate through ad-hoc pairwise communication, exchanging local maps, goal status, and navigation intent without synchronization. An implicit task allocation mechanism combining intent broadcasting and distance-weighted frontier selection reduces redundant exploration while preserving decentralized operation. Evaluations on HM3DSem scenes using the HM3Dv0.2 and GOAT-Bench datasets demonstrate that DM$^3$-Nav matches or exceeds centralized and shared-map baselines while eliminating single points of failure inherent in centralized architectures. Finally, we validate our approach in a real-world office environment using two mobile robots, demonstrating successful deployment relying entirely on onboard sensing and computation. A video of our real-world experiments is available online: https://drive.google.com/file/d/1QiUSCn5rIvtuTUqtuXLPgmt6S8x9-MCZ/view?usp=drive_link |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_22014 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | DM$^3$-Nav: Decentralized Multi-Agent Multimodal Multi-Object Semantic Navigation Kashiri, Amin Jamsandekar, Atharva Yazıcıoğlu, Yasin Multiagent Systems Robotics We present DM$^3$-Nav, a fully decentralized multi-agent semantic navigation system supporting multimodal open-vocabulary goal specification and multi-object missions. In our setting, decentralization implies operation without a central coordinator, global map aggregation, or shared global state at runtime. Robots operate autonomously and coordinate through ad-hoc pairwise communication, exchanging local maps, goal status, and navigation intent without synchronization. An implicit task allocation mechanism combining intent broadcasting and distance-weighted frontier selection reduces redundant exploration while preserving decentralized operation. Evaluations on HM3DSem scenes using the HM3Dv0.2 and GOAT-Bench datasets demonstrate that DM$^3$-Nav matches or exceeds centralized and shared-map baselines while eliminating single points of failure inherent in centralized architectures. Finally, we validate our approach in a real-world office environment using two mobile robots, demonstrating successful deployment relying entirely on onboard sensing and computation. A video of our real-world experiments is available online: https://drive.google.com/file/d/1QiUSCn5rIvtuTUqtuXLPgmt6S8x9-MCZ/view?usp=drive_link |
| title | DM$^3$-Nav: Decentralized Multi-Agent Multimodal Multi-Object Semantic Navigation |
| topic | Multiagent Systems Robotics |
| url | https://arxiv.org/abs/2604.22014 |