Capability-Aware Task Allocation and Team Formation Analysis for Cooperative Exploration of Complex Environments

Muhammad Fadhil Ginting,Kyohei Otsu,Mykel J. Kochenderfer,Ali-akbar Agha-mohammadi,Muhammad Fadhil Ginting,Kyohei Otsu,Mykel J. Kochenderfer,Ali-akbar Agha-mohammadi

To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous capabilities. We formulate a multi-robot exploration mission and compute an operation policy to maintain robot team productivity and maximize mission success. The environment description, robot capability, and mission outcome are modeled as a Markov decision pro...