arXiv:2609.01394 · v2

Autonomous robotic bridging using distributed swarm control without inter-agent communication

无智能体间通信的分布式集群控制自主机器人架桥

首次提交 2026-09-01 23:21

版本更新 2026-11-11 00:28

雷达观测 2026-11-11 13:07

摘要

We describe SCARAB--Swarm-Capable Autonomous Robotic Aquatic Bridging. Using distributed swarm control and multi-model sensing of agents and docking targets, agents can localize themselves, join into formations and proceed to desired target locations. Our technologies would eventually allow the Army to perform unpredictable, dispersed river crossings, enhance crew survivability, and minimize the logistics footprint compared to the current Improved Ribbon Bridge. Our methods operate without GPS or RF communications, though these can be used in non-contested environments (e.g., civilian disaster relief for flooding, etc.). We demonstrate our system via physics-engine-based simulation of several agents using unmanned surface vehicles (USVs) in the presence of currents and wind.

作者备注：Work from Army SBIR/STTR A254-012 (contract number W51701-25-C-A253)