受蜜蜂摇摆舞启发的基于RGB与合成事件视觉的多无人机招募
Waggle-Dance-Inspired Multi-UAV Recruitment with RGB and Synthetic Event Vision
- 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总结：
本文受蜜蜂摇摆舞启发，提出并仿真验证了多无人机招募中基于RGB与合成事件视觉的通信机制，实现了任务广播、解码与执行的功能可行性。
AI中文摘要：
蜜蜂的摇摆舞启发了一种通信机制，其中一个智能体的运动引导其他智能体的后续工作。对于空中机器人而言，实现这一机制需要从观察到的运动到完整消息、局部任务选择与执行的链路。本文提出了一个MuJoCo系统，用于在该链路中比较RGB与合成事件视觉。一个表演者向一至三个观察者广播六比特任务报价，每个观察者独立解码两个报价后选择任务。RGB接收器使用稀疏光流提取轨迹；事件接收器仅使用局部事件支撑和包定时。两者使用共同的运动字母表和显式空分隔符。由于事件静默不能确立目标可见性，事件版本包含物理获取运动和连续性限定的空确认。在标称三观察者情况下，每个版本产生了12次完整消息接收、6个完成工作单元以及在耗尽任务撤回后的重新分配。六个配对功能案例产生了相同的消息和工作计数；额外的事件流丢失案例保持了受影响观察者的不活动。重放42,060,633个记录的合成事件复现了所有12个事件消息载荷和完成时间戳。标称任务总时间为RGB的493.80秒和事件的517.40秒，差异主要由事件获取计划主导。这些固定仿真结果确立了两种接收器实现的功能可行性，而非传感器性能优势或硬件验证。
英文摘要：
The honeybee waggle dance motivates a communication mechanism in which one agent's motion guides the subsequent work of other agents. For aerial robots, realizing this mechanism requires a link from observed movement to a complete message, local task selection, and execution. This paper presents a MuJoCo system for comparing RGB and synthetic event vision within that link. One performer broadcasts six-bit task offers to one to three observers, each of which independently decodes both offers before selecting a task. The RGB receiver extracts trajectories using sparse optical flow; the event receiver uses only local event support and packet timing. Both use a common motion alphabet and explicit null delimiters. Because event silence does not establish target visibility, the event version includes a physical acquisition motion and continuity-qualified null confirmation. In the nominal three-observer case, each version produced 12 complete message receptions, six completed work units, and reassignment after withdrawal of a depleted task. Six paired functional cases produced the same message and work counts; an additional event-stream dropout case preserved inactivity of the affected observer. Replaying 42,060,633 recorded synthetic events reproduced all 12 event-message payloads and completion timestamps. Total nominal mission time was 493.80 s for RGB and 517.40 s for events, with the difference dominated by the event acquisition schedule. These fixed simulation results establish functional feasibility across two receiver implementations, rather than a sensor-performance advantage or hardware validation.
