# DSGN: A Dual-Stream Gated Network for Scalable Multi-Robot Surveillance and Containment

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/b8pujplaawpzwijgamk4smwqu
- Original: https://arxiv.org/abs/2610.34084

## Summary

The authors propose the Dual-Stream Gated Network (DSGN), which separates surveillance and containment into independent representation streams and coordinates them through a context-aware gating mechanism to alleviate task-switching difficulties in large-scale robot networks. The method also introduces a probabilistic prior to regularize the gating process, reducing ambiguous intermediate decisions. Under constant-density cross-scale settings, DSGN maintains task effectiveness and scalability; ablation and staged experiments show that dynamic gating and the probabilistic prior support task arbitration and mode switching. The paper has been accepted to RA-L October 2026, and the code is publicly available.