Abstract:We present DM$^3$-Nav, a fully decentralized multi-agent semantic navigation system supporting multimodal open-vocabulary goal specification and multi-object missions. In our setting, decentralization implies operation without a central coordinator, global map aggregation, or shared global state at runtime. Robots operate autonomously and coordinate through ad-hoc pairwise communication, exchanging local maps, goal status, and navigation intent without synchronization. An implicit task allocation mechanism combining intent broadcasting and distance-weighted frontier selection reduces redundant exploration while preserving decentralized operation. Evaluations on HM3DSem scenes using the HM3Dv0.2 and GOAT-Bench datasets demonstrate that DM$^3$-Nav matches or exceeds centralized and shared-map baselines while eliminating single points of failure inherent in centralized architectures. Finally, we validate our approach in a real-world office environment using two mobile robots, demonstrating successful deployment relying entirely on onboard sensing and computation. A video of our real-world experiments is available online: this https URL
From: Amin Kashiri [view email]
[v1]
Thu, 23 Apr 2026 19:07:52 UTC (3,921 KB)
[v2]
Wed, 5 Aug 2026 01:00:54 UTC (3,920 KB)
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