DM³-Nav delivers decentralized multi-agent semantic navigation for multimodal open-vocabulary multi-object tasks that matches centralized baselines in simulation and succeeds in real-world robot deployments.
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A central-server-maintained visitation grid lets robots probabilistically prefer low-count 3x3 neighborhoods, cutting total collection time by up to 33% and late-stage efficiency gains over 48% versus CPFA in simulations.
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DM$^3$-Nav: Decentralized Multi-Agent Multimodal Multi-Object Semantic Navigation
DM³-Nav delivers decentralized multi-agent semantic navigation for multimodal open-vocabulary multi-object tasks that matches centralized baselines in simulation and succeeds in real-world robot deployments.
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A Visitation Grid for Complete Coverage Foraging in Robot Swarms
A central-server-maintained visitation grid lets robots probabilistically prefer low-count 3x3 neighborhoods, cutting total collection time by up to 33% and late-stage efficiency gains over 48% versus CPFA in simulations.