Path planning for optimizing survivability of multi-robot formation in adversarial environments

摘要: Multi robot formation is a canonical problem in robotic research. The has been examined neutral environments, where the robots' goal usually to maintain despite changes environment. of multi motivated by natural phenomena such as schools fish or flocks birds. While team behavior responsive threats, robotics research formation, adversarial presence ignored. In this paper we present which robots travels connected through an environment that includes threats may harm robots. is, therefore, maximize their chance traveling unharmed, be used mean achieve goal. We formally define problem, quantitative measure for evaluating survivability team, and suggest possible solutions variant under certain threat characteristics, optimizing different criteria. Finally, discuss challenges raised transitioning discrete representation continuous simulation.