Epistemic Planning for Heterogeneous Robotic Systems

Heterogeneous multi-robot system deployment offers a For example, consider Figure 1 where two unmanned ground variety of advantages including improved versatility, scalability, vehicles (UGVs) and one unmanned aerial vehicle (UAV) are and adaptability over homogeneous systems. As robotic exploring an environment and may discover tasks at undisclosed technology has advanced over the last few decades making locations. During disconnection, the UAV maintains robots smaller, more capable, and affordable, demand for a set of possible (belief) states for UGV 1 and UGV 2 and multi-robot research has grown. Appropriate coordination of also a set of (empathy) states that UGV 1 and UGV 2 might these heterogeneous systems can improve the effectiveness of believe about the UAV. The UAV finds a task that requires safety critical missions such as surveillance, exploration, and a UGV and plans to communicate with UGV 2. After the rescue operations by incorporating the capabilities of each UAV travels to UGV 2's first belief state, it finds that UGV robot. However, the complexity of the solution for a heterogeneous 2 is not present. So, the UAV reasons that UGV 2 might be system can exponentially expand over long periods at the second belief state, successfully communicates, and of disconnectivity, especially in uncertain environments.