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Dynamic, Decentralized Spatial Code Reuse for OCDMA LiDAR in Robot Swarms

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Robots in a LiDAR-equipped swarm mutually interfere when their optical ranging codes collide. Existing mitigations either assign codes statically -- requiring $L=N$ distinguishable codes for $N$ robots -- or react to detected interference without a scalable, coordinated assignment rule beneath them; prior work explicitly identifies the code-assignment scaling problem as unsolved. We propose a decentralized protocol in which robots dynamically reassign spatial reuse codes based on a live, beacon-maintained interference-neighborhood graph, and prove that the number of codes required grows as $O(

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