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Spatially-Distributed Missions with Heterogeneous Multi-Robot Teams
2021
IEEE Access
This work is about mission planning in teams of mobile autonomous agents. We consider tasks that are spatially distributed, non atomic, and provide an utility for integral and also partial task completion. Agents are heterogeneous, therefore showing different efficiency when dealing with the tasks. The goal is to define a system-level plan that assigns tasks to agents to maximize mission performance. We define the mission planning problem through a model including multiple sub-problems that are
doi:10.1109/access.2021.3076919
fatcat:f5kfgsr3uzamhe7ptdojng4ldq