שיתוף מפה סמנטית ותכנון כיסוי מודע ליכולות לקואורדינציה רובוטית 6G

תקציר מקורי באנגליתarXiv:2609.37666v1 Announce Type: cross Abstract: Search and Rescue (SAR) operations increasingly deploy heterogeneous teams of aerial and ground robots. However, conventional coverage methods typically do not translate perceived terrain into platform-specific reachability, while continuous image exchange imposes a high communication cost. We propose an edge-centric, semantic-aware coverage planning framework that integrates aerial terrain perception, robot-specific traversability reasoning, and payload-efficient semantic state sharing. Aerial observations are converted into compact semantic grid maps, enabling reachability-constrained area decomposition and capability-aware coverage paths that assign only regions admitted by each robot's capability profile. The resulting perception-sharin