Multi-Robot Coordination in V2X Environments
John Pravin Arockiasamy, Alexey Vinel
TLDR
This paper proposes a V2X framework with new services (RAS, RMCS) for decentralized multi-robot coordination, integrating non-V2X users in urban traffic.
Key contributions
- Presents a V2X framework for decentralized multi-robot coordination in urban traffic.
- Introduces Robot Awareness Service (RAS) for role-aware awareness and VRU integration.
- Proposes Robot Maneuver Coordination Service (RMCS) for low-latency, event-driven coordination.
- Demonstrates real-world coordination between humanoid and quadrupedal robots assisting pedestrians.
Why it matters
This framework is crucial for integrating cooperative robots into future smart mobility. It enhances safety by including non-V2X road users and enables scalable, decentralized robot collaboration. This paves the way for more robust and autonomous urban assistance systems.
Original Abstract
This paper presents a Vehicle-to-Everything (V2X) communication framework that enables decentralized cooperation among social robots operating in complex urban traffic environments. Building on ETSI Cooperative Awareness and Maneuver Coordination services, the framework introduces two robot-centric facility-layer services: the Robot Awareness Service (RAS) and the Robot Maneuver Coordination Service (RMCS), realized through the Robot Awareness Message (RAM) and the Robot Maneuver Coordination Message (RMCM), respectively. RAS enables role-aware, task-oriented robot awareness while integrating externally detected Vulnerable Road Users (VRUs), including non-V2X pedestrians, into cooperative awareness. RMCS supports event-driven, low-latency coordination of robot maneuvers under explicitly established roles, without centralized infrastructure or prior pairing. A real-world proof of concept demonstrates deterministic multi-robot coordination between a humanoid robot and a quadrupedal robot assisting a pedestrian during a road-crossing scenario, governed by a formally specified finite-state coordination model. Complementary simulations evaluate robot-mediated VRU clustering in mixed V2X environments, showing that RAS-based clustering integrates non-V2X VRUs in safety-critical areas while reducing redundant transmissions from V2X-enabled VRUs, thereby lowering channel load. Together, the proposed services provide a scalable and standards-aligned foundation for integrating cooperative robots into future Connected, Cooperative, and Automated Mobility ecosystems.
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