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arXiv2026

D3ARC: Time-Critical Distributed Disaster Detection for Asynchronous Cooperative Multi-Robot Systems

Climate change is increasing the severity and unpredictability of natural disasters. In time-critical crises such as wildfires, traditional monitoring practices remain limited by coverage, cost, and personnel risk, paving the way for autonomous and adaptive monitoring solutions. Within this context, this paper introduces D3ARC, an asynchronous distributed hierarchical framework for time-aware and reliable wildfire detection. D3ARC integrates multiple robotic agents that cooperate under uncertainty through distributed perception, shared situational awareness and coordinated actions. A remote controller asynchronously decides upon each robot's motion, while each robotic agent senses the environment and decides where and how to execute the wildfire detection. All robotic operations require time, and as time progresses, wildfires continue to spread, reducing the opportunity for early intervention. As such, all agents share a common objective: to detect a wildfire with a certain performance threshold as fast as possible and within a time limit. D3ARC integrates mechanisms for safe navigation, coverage efficiency, cooperation and reliability. It introduces a forward-looking capability that allows agents to anticipate the future by evaluating candidate strategies before execution. The framework is evaluated through realistic robotics simulations, ablation studies, and baseline comparisons, achieving an overall mission success up to 94% with 89.4% detection confidence.

cs.RO↗

arXiv2026

GreenFLag: A Green Agentic Approach for Energy-Efficient Federated Learning

Progressing toward a new generation of mobile networks, a clear focus on integrating distributed intelligence across the system is observed to drive performance, autonomy, and real-time adaptability. Federated learning (FL) stands out as a key emerging technique, enabling on-device model training while preserving data locality. However, its operation introduces substantial energy and resource demands. Energy needs are mostly met by grid power sources, while FL resource orchestration strategies remain limited. This work introduces GreenFLag, an agentic resource orchestration framework designed to minimize the energy consumption from the grid power to complete FL workflows, guarantee FL model performance, and reduce grid power reliance by incorporating renewable sources into the system. GreenFLag leverages a Soft-Actor Critic reinforcement learning approach to jointly optimize computational and communication resources, while accounting for communication contention and the dynamic availability of renewable energy. Evaluations using a real-world open dataset from Copernicus, demonstrate that GreenFLag significantly reduces grid energy consumption by 94.8% on average, compared to three state-of-the-art baselines, while primarily relying on green power.

cs.NI↗