Collaborative Task and Path Planning for Heterogeneous Robotic Teams using Multi-Agent PPO

Description

Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized subsystems, each providing specific expertise to complete the mission. The central challenge lies in efficiently coordinating the team to maximize utilization and the extraction of scientific value. Classical planning algorithms scale poorly with problem size, leading

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