外观
论文arXiv 2608.025712 个月前
面向四足机器人搜救的情境感知前沿优先级排序
原文链接：Situation Aware Frontier Prioritization for Quadruped Search and Rescue（arXiv 2608.02571 · 发布日期：2026-08-03）
Situation Aware Frontier Prioritization for Quadruped Search and Rescue
提出在前沿探索中融合多因素排序的情境感知方法，并在Gazebo四足机器人室内搜救仿真中验证。
核心要点
- 未知搜救场景中，自主探索需在扩展地图与发现受害者可能性之间权衡。
- 方法保留前沿探索框架，并用信息增益、观测缺口、搜救相关性、地形惩罚和行程成本扩展排序。
- 在两个难度不同的室内搜救Gazebo仿真场景中评估单台四足机器人。
- 简单场景各方法表现可靠；复杂场景中该方法完成率和受害者恢复最高。
验证范围与局限：验证范围为Gazebo仿真中的单台四足机器人和两个室内搜救场景。
英文摘要 (Abstract)
Quadruped robots are a promising platform for search and rescue missions because they can navigate cluttered indoor environments that may be restrictive for wheeled systems. However, in unknown rescue scenarios, autonomous exploration must balance map expansion with the likelihood of finding victims, which is not explicitly addressed by clas- sical frontier selection strategies. This paper presents a situation aware frontier prioritization method for single robot quadruped search and rescue. The proposed approach preserves the frontier exploration framework, but extends frontier ranking with information gain, observation deficit, rescue relevance, terrain penalty, and travel cost. The method is eval- uated in Gazebo simulation with a quadruped robot in two indoor rescue scenarios with different levels of difficulty. The first scenario is used as a sanity check, while the second introduces stronger clutter and frontier ambiguity. Experimental results show that all methods perform reliably in a simple scenario, whereas in a complex scenario is different. In that setting, the proposed method achieves the highest completion rate and the highest victim recovery among the evaluated approaches. These results indicate that situation aware frontier prioritization is beneficial when frontier choice becomes nontrivial and rescue utility must be balanced against generic exploration objectives.
作者：Kevin Farias, Santiago Martin, Barbara Flores, Vinicio Melgar, Igor Nunes, Hiago Sodre, Pablo Moraes, Ricardo B. Grando
来源
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