AT-Drone：多无人机追捕中的自适应团队协作基准测试
AT-Drone: Benchmarking Adaptive Teaming in Multi-Drone Pursuit
AI总结：
AT-Drone是首个多无人机追捕自适应团队协作基准，提供仿真环境配置器、真实部署流水线、多追逃算法库及标准化评估协议，有效推进了多机器人自适应协作研究。
摘要：
自适应团队协作——即智能体在无需事先协调的情况下与陌生队友有效协作的能力——在虚拟视频游戏中已被广泛探索，但在现实世界的多机器人场景中却被忽视。然而，这种自适应协作对于现实世界的应用至关重要，包括边境监控、搜救以及反恐行动。为了填补这一空白，我们引入了AT-Drone，这是首个明确设计用于促进多无人机追捕场景中自适应团队协作策略全面训练和评估的专用基准。AT-Drone做出了以下关键贡献：（1）一个可适应的仿真环境配置器，能够直观且快速地设置自适应团队协作多无人机追捕任务，包含四个预定义的追捕环境。（2）一条简化的真实世界部署流水线，利用边缘设备和Crazyflie无人机，将仿真经验无缝转化为实际的无人机评估。（3）一个集成到分布式训练框架中的新型算法库，首次包含专为多追捕者和多逃跑者设置量身定制的多种算法。（4）标准化的评估协议，配有新设计的未见过的无人机库，明确旨在严格评估自适应团队协作的性能。在四个难度递增的多无人机追捕场景中进行的全面实验评估，证实了AT-Drone在推进自适应团队协作研究方面的有效性。真实世界的无人机实验进一步验证了其在现实机器人操作中的实际可行性和实用性。视频、代码和权重可在\url{https://sites.google.com/view/at-drone}获取。
英文摘要：
Adaptive teaming-the capability of agents to effectively collaborate with unfamiliar teammates without prior coordination-is widely explored in virtual video games but overlooked in real-world multi-robot contexts. Yet, such adaptive collaboration is crucial for real-world applications, including border surveillance, search-and-rescue, and counter-terrorism operations. To address this gap, we introduce AT-Drone, the first dedicated benchmark explicitly designed to facilitate comprehensive training and evaluation of adaptive teaming strategies in multi-drone pursuit scenarios. AT-Drone makes the following key contributions: (1) An adaptable simulation environment configurator that enables intuitive and rapid setup of adaptive teaming multi-drone pursuit tasks, including four predefined pursuit environments. (2) A streamlined real-world deployment pipeline that seamlessly translates simulation insights into practical drone evaluations using edge devices and Crazyflie drones. (3) A novel algorithm zoo integrated with a distributed training framework, featuring diverse algorithms explicitly tailored, for the first time, to multi-pursuer and multi-evader settings. (4) Standardized evaluation protocols with newly designed unseen drone zoos, explicitly designed to rigorously assess the performance of adaptive teaming. Comprehensive experimental evaluations across four progressively challenging multi-drone pursuit scenarios confirm AT-Drone's effectiveness in advancing adaptive teaming research. Real-world drone experiments further validate its practical feasibility and utility for realistic robotic operations. Videos, code and weights are available at \url{https://sites.google.com/view/at-drone}.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
