BodyGuards: Escorting by Multiple Robots in Unknown Environment under Limited Communication
This addresses safety and efficiency challenges for human operators in high-risk missions like reconnaissance or disaster response, representing a novel application of multi-robot systems rather than a foundational advance.
The paper tackles the problem of protecting a human operator navigating unknown adversarial environments with limited communication by proposing a multi-robot escorting framework called BodyGuards, which reduces operator risk and mission time in simulations and hardware experiments.
Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical challenge, especially when the communication among the operator and robots is restricted. Unlike existing collaborative exploration methods that aim for complete coverage, this work focuses on task-oriented exploration to minimize the navigation time of the operator to reach its goal while ensuring safety under adversarial threats. A novel escorting framework BodyGuards, is proposed to explicitly integrate seamlessly collaborative exploration, inter-robot-operator communication and escorting. The framework consists of three core components: (I) a dynamic movement strategy for the operator that maintains a local map with risk zones for proactive path planning; (II) a dual-mode robotic strategy combining frontier based exploration with optimized return events to balance exploration, threat detection, and intermittent communication; and (III) multi-robot coordination protocols that jointly plan exploration and information sharing for efficient escorting. Extensive human-in-the-loop simulations and hardware experiments demonstrate that the method significantly reduces operator risk and mission time, outperforming baselines in adversarial and constrained environments.