发表机构
Universiti Sains Malaysia（马来西亚理科大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文受蜜蜂摇摆舞启发，在MuJoCo中实现多无人机运动通信系统，通过飞行原语广播导航消息，实验验证了广播到行动机制的可行性。
AI 中文摘要
蜜蜂的摇摆舞启发了一种通信机制，其中一个个体的运动传递空间信息，引导其他个体的行动。本文提出了一个MuJoCo系统，将MoCom的点对点运动通信设置扩展为一个表演者和多个观察者。表演者使用四种飞行原语和显式空信号广播六位导航载荷。一至五个观察者中的每一个处理自己的机载RGB图像，提取光流轨迹，识别符号，解析消息，并在确认自己的完整帧后才开始导航。接收状态和执行触发在观察者之间是分开的，而仿真控制和安全检查使用共享的真实值。在观察者静止、25 Hz图像输入和理想状态反馈控制下，一个固定的标准测试套件在17次标称广播中，从53次接收者暴露中产生了44条正确的完整消息；13次广播通过了所有组级解码和执行检查。三个额外的无消息或输入故障对照达到了预期结果。一个单独报告的补充套件，使用相同的冻结代码在默认几何配置下，在三次广播中实现了14次成功的接收者暴露。近距和广角配置暴露了跟踪和识别失败，而未成功的接收者保持静止。这些有限的仿真结果支持在测试条件下摇摆舞启发的广播到行动机制的可行性，并指出了当前的感知和协议限制。
英文摘要
The honeybee waggle dance motivates a communication mechanism in which one agent's movement conveys spatial information that guides other agents' actions. This paper presents a MuJoCo system that extends the point-to-point motion communication setting of MoCom to one performer and multiple observers. A performer broadcasts a six-bit navigation payload using four flight primitives and explicit null signals. Each of one to five observers processes its own onboard RGB images, extracts optical-flow trajectories, recognizes symbols, parses the message, and starts navigation only after confirming its own complete frame. Reception states and execution triggers are separate across observers, while simulation control and safety checks use shared ground truth. With stationary observers, 25 Hz image input, and ideal state-feedback control, a fixed standard suite yielded 44 correct complete messages from 53 receiver exposures across 17 nominal broadcasts; 13 broadcasts passed all group-level decoding and execution checks. Three additional no-message or input-fault controls met their expected outcomes. A separately reported supplemental suite, using the same frozen code at the default geometry, achieved 14 successful receiver exposures across three broadcasts. Near-range and wide-angle configurations exposed tracking and recognition failures, while unsuccessful receivers remained stationary. These finite simulation results support the feasibility of a waggle-dance-inspired broadcast-to-action mechanism under the tested conditions and identify the present perceptual and protocol limits.
Comments9 pages, 1 figure, 3 tables
