Task-Driven Co-Design of Heterogeneous Multi-Robot Systems

arXiv:2604.21894 · cs.RO, cs.MA · Submitted 2026-04-23 · Read on arXiv

cs.RO, cs.MA

Submitted: 2026-04-23

Updated: 2026-09-26

Terminology

• Abstraction — 15× in this paper · explained in 1 episode
• Multi-Agent System — 5× in this paper · explained in 6 episodes
• International Conference on Robotics and Automation — 3× in this paper
• Interpretability — 3× in this paper · explained in 15 episodes
• Computational Tractability — 2× in this paper · explained in 2 episodes
• Core — 2× in this paper · explained in 2 episodes
• Homogeneity — 2× in this paper · explained in 2 episodes
• Modularity — 2× in this paper · explained in 9 episodes
• Pruning — 2× in this paper · explained in 4 episodes
• Structural Constraints — 2× in this paper · explained in 2 episodes
• Active Vision — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Combinatorial Optimization — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• IEEE Intelligent Vehicles Symposium — 1× in this paper
• Resource Constraints — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• A Mathematical Theory of Co-Design
• Adaptive grid-based decomposition for UAV-based coverage path planning in maritime search and rescue
• SwarmCoDe: A Scalable Co-Design Framework for Heterogeneous Robot Swarms via Dynamic Speciation
• Distributional Uncertainty and Adaptive Decision-Making in System Co-design

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