跨域立体集群智能与海陆空异构平台协同编队调度

在高空长航时无人侦察机大范围俯瞰引导下，水面无人快艇集群与岸基无人战车机群快速响应，无缝闭环执行海岸线巡逻侦察、海上突发溢油围堵与海陆空联合反恐抢险。

UnmannedSwarm Heterogeneous Multi-Domain Stack

Robotics Core: Swarm Core — Multi-Domain Teaming & Auctions

第一层：感知与实时建图定位（SLAM）子系统 (3D LiDAR / RealSense RGB-D / Fast-LIO2 / Cartographer): 高频三维点云采集、IMU 紧耦合紧凑预积分以及动态环境下的亚厘米级实时精准定位。
第二层：局部导航与模型预测控制（MPC）执行引擎 (TEB Local Planner / Timed-Elastic Band / Pure Pursuit): 实时动态避障、非完整约束运动学轨迹平滑优化与 ISO 3691-4 激光安全防区自适应动态切换。
第三层：跨品牌互操作协议、实时中间件与车队总线 (VDA 5050 v2.1 / ROS 2 Jazzy / Eclipse Zenoh / CycloneDDS): 标准化 JSON/MQTT 任务调度指令解析、节点内零拷贝共享内存 IPC 与多品牌异构车队高确定性低延迟状态回传。
第四层：集群协同调度、无冲突路径规划与交通优化 (Conflict-Based Search (CBS-MAPF) / Dynamic Block Reservation): 集中式与分布式冲突优先搜索（CBS-MAPF）多智能体无碰撞路径规划、自动机会充电机位调度与通行瓶颈动态消解。

Telemetry & Compliance: ±5 mm (重复定位精度) | <8 ms (调度响应时延) | <12 ms (安全刹停响应时间) | VDA 5050 v2.1 (开放车队协议标准)

复杂作战场景涵盖地面障碍、水域屏障与开放空域。UnmannedSwarm 开发了协同一致的跨域机器人集群，由空中侦察兵通过统一的去中心化协议引导地面运输与水面舰艇。

Cross-Domain Air-Ground Swarm Teaming and Mutual Perception — Cooperative perception algorithms where high-altitude micro-drones broadcast top-down obstacle grids directly into ground vehicle path planners.
Bio-Inspired Swarm Intelligence and Pheromone Trails — Stochastic swarm exploration models mimicking ant colony pheromone deposition to locate targets and optimize transport networks without central dispatchers.
Decentralized Auction-Based Task Allocation — Market-based task allocation mechanisms where individual robots bid on missions according to distance, payload capability, and battery state-of-charge.

AMRAgent — Agentic Autonomous Mobile Robots, Edge Mission Planning & Behavioral Trees
AGVSwarm — Automated Guided Vehicle Swarm Logistics, Block-Zone Dispatch & Traffic Control
AGVSync — VDA 5050 Fleet Protocol, Time-Triggered Dispatch & Multi-Vendor Interoperability
AMRSwarm — Decentralized Swarm Intelligence, Spatial Self-Organization & Consensus Navigation