发表机构
Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University; State Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University; College of Electronic and Information Engineering, Tongji University（同济大学上海自主智能无人系统科学中心; 同济大学自主智能无人系统全国重点实验室; 同济大学电子与信息工程学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
VIRGA提出虚拟智能体中介的黎曼几何框架，通过双激光雷达观测和互惠弹性反馈实现空地主动感知协调，安全完成仓库任务并在洞穴中保持持续协调。
AI 中文摘要
当无人机（UAV）必须保持被安装在无人地面车辆（UGV）上的云台激光雷达（LiDAR）可观测时，空地自主性变得更加困难。平台必须在单一闭环内协调异构运动、有限感知和变化的任务主动权，同时避开动态障碍物。本文提出VIRGA，一种神经几何协调框架，将双激光雷达观测转换为有界的源特定黎曼场，并通过具有互惠弹性反馈的虚拟智能体耦合这些场。平台感知执行映射将共享协调参考转换为可行的UAV、UGV和云台指令，同时强制执行主动观测保障。与三个互补基线的评估揭示了不同的局限性。改进的Ray-RMP控制器提供最快的黎曼响应，但在耦合空地任务中产生不足的间隙。密集解析黎曼场改善了几何避障，但其高评估成本阻碍了稳定的视场维持。改进的ColAG控制器实现最低延迟，但仍出现安全和可观测性违规。VIRGA安全完成所有配对仓库条件，而无需重新训练的长距离洞穴压力测试展示了在不规则和受限几何中的持续协调。消融研究证实了在线几何评估、虚拟智能体中介和互惠反馈的贡献。
英文摘要
Air-ground autonomy becomes harder when the unmanned aerial vehicle (UAV) must remain observable by a gimbal light detection and ranging (LiDAR) mounted on the unmanned ground vehicle (UGV). The platforms must avoid dynamic obstacles while coordinating heterogeneous motion, limited sensing, and changing task initiative within one closed loop. This paper presents VIRGA, a neural geometric coordination framework that turns dual-LiDAR observations into bounded source-specific Riemannian fields and couples them through a virtual agent with reciprocal elastic feedback. Platform-aware execution maps convert the shared coordination reference into feasible UAV, UGV, and gimbal commands while enforcing active-observation safeguards. Evaluation against three complementary baselines reveals distinct limitations. An adapted Ray-RMP controller provides the fastest Riemannian response but produces insufficient clearance in the coupled air-ground task. A dense analytical Riemannian field improves geometric avoidance, yet its high evaluation cost prevents stable field-of-view maintenance. An adapted ColAG controller achieves the lowest latency but still incurs safety and observability violations. VIRGA completes all paired warehouse conditions safely, while a long-range cave stress test without retraining demonstrates sustained coordination in irregular and confined geometry. Ablations confirm contributions from online geometric evaluation, virtual-agent mediation, and reciprocal feedback.
