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DM³-Nav: Fully decentralized multi-agent system for semantic navigation without central coordinator
arXiv cs.MA (Multi-Agent) · 2026年4月27日
AI要約
- •Researchers present DM³-Nav, a decentralized multi-agent semantic navigation system supporting multimodal open-vocabulary goal specification and multi-object missions, with operation relying on ad-hoc pairwise communication between robots exchanging local maps, goal status, and navigation intent without synchronization.
- •The system eliminates single points of failure by removing the need for a central coordinator, global map aggregation, or shared global state at runtime; an implicit task allocation mechanism combines intent broadcasting and distance-weighted frontier selection to reduce redundant exploration.
- •Evaluations on HM3DSem scenes using the HM3Dv0.2 and GOAT-Bench datasets show DM³-Nav matches or exceeds centralized and shared-map baselines; validation in a real-world office environment using two mobile robots demonstrated successful deployment relying entirely on onboard sensing and computation.
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