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In this paper we study the following multi-robot coordination problem: given a graph, where each edge is weighted by the probability of surviving while traversing it, find a set of paths for K robots that maximizes the expected number of nodes collectively visited, subject to constraints on the probability that each robot survives to its destination. We call this problem the Team Surviving Orienteers (TSO) problem. The TSO problem is motivated by scenarios where a team of robots must traverse aarXiv:1612.03232v1 fatcat:5giu323tfrfhfmi5impc6uxn6e