发表机构
The University of Texas at Arlington Research Institute; Hydronalix, Inc.（德克萨斯大学阿灵顿分校研究院; Hydronalix公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出无需智能体间通信的分布式群体控制技术，开发SCARAB水上架桥系统，通过无人水面艇仿真验证其可实现分散渡河，提升生存性并减少后勤需求。
AI 中文摘要
我们描述SCARAB——具备群体能力的自主机器人水上架桥系统。通过分布式群体控制及对智能体与对接目标的多模型感知，智能体可实现自定位、形成编队并向期望目标位置移动。该技术最终将使陆军能执行不可预测的分散式渡河任务，提升乘员生存性，并相比现役改进型带状桥（Improved Ribbon Bridge）最小化后勤 footprint。我们的方法无需GPS或射频（RF）通信，但可在非对抗环境（如民用洪水救灾等）中使用这些技术。我们通过基于物理引擎的多智能体仿真演示了该系统，仿真中采用无人水面艇（USV），并考虑水流与风的影响。
英文摘要
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.
CommentsWork from Army SBIR/STTR A254-012 (contract number W51701-25-C-A253)
