发表机构
University of Bristol; School of Engineering Mathematics and Technology; School of Computer Science; School of Electrical, Electronic and Mechanical Engineering（布里斯托尔大学; 工程数学与技术学院; 计算机科学学院; 电气、电子与机械工程学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出配备智能IoT标签的分散式机器人群物流系统，通过货物紧急度广播实现无中央调度的优先级分配，物理试验与仿真均验证其能提升紧急货物服务比例、降低延迟且吞吐量接近基准。
AI 中文摘要
仓库中不同货物的搬运紧急程度存在差异：易腐货物、药品运输和准时制生产物料需比其他库存更快送达。分散式机器人群适用于无法承担固定自动化基础设施的仓库，但当前的群体控制器要么对所有货物一视同仁，要么依赖外部调度器设置优先级，导致紧急货物与普通货物等待时间相同。本文提出一种群体物流系统，每个仓库搬运载体配备超低功耗物联网（IoT）标签，通过蓝牙低功耗（BLE）广播其货物的紧急度。机器人直接读取这些广播，在选择服务载体时权衡紧急度与行驶距离，从而在无需中央调度的情况下实现货物级别的优先级分配。该系统在仿真中进行评估，并在真实机器人和带有IoT标签的载体上与仅基于距离的基准进行验证。物理试验中，优先级对齐（即首先服务的紧急货物比例）从0.41提升至0.64，同时95百分位（P95）交付延迟呈无显著差异的降低趋势，吞吐量与基准相比差距在1.2%以内。仿真中，效益随系统规模增大而提升：在三个更大配置中，P95延迟降低5.2%至11.8%，优先级对齐提升41.7%至51.6%。因此，将紧急度附着于货物本身，可使分散式群体在保持机器人群系统对仓库自动化具有吸引力的低基础设施要求的同时，更快服务时间关键型库存。
英文摘要
Warehouse items differ in how urgently they must be moved: perishable goods, pharmaceutical shipments, and just-in-time production materials must be delivered sooner than the rest of the stock. Decentralised robot swarms suit warehouses that cannot justify fixed automation infrastructure, but current swarm controllers treat all items alike or rely on an external scheduler to set priorities, so urgent items wait as long as ordinary ones. This paper presents a swarm logistics system in which each warehouse carrier holds an ultra-low-power Internet-of-Things (IoT) tag that broadcasts the urgency of its item over Bluetooth Low Energy (BLE). Robots read these broadcasts directly and weigh urgency against travel distance when choosing which carrier to serve, so prioritisation happens at the item level without central scheduling. The system is evaluated in simulation and validated on real robots and IoT-tagged carriers against a proximity-only baseline. In the physical trials, priority alignment (i.e. proportion of urgent items served first), improved from 0.41 to 0.64, with a nonsignificant trend toward lower 95th-percentile (P95) delivery latency and throughput within 1.2% of the baseline. In simulation, the benefit grew with system size: across three larger configurations, P95 latency fell by 5.2% to 11.8% and priority alignment improved by 41.7% to 51.6%. Attaching urgency to the items themselves therefore allows a decentralised swarm to serve time-critical stock sooner while keeping the low infrastructure requirements that make swarm systems attractive for warehouse automation.
Comments16 pages, 8 figures, 3 Tables
