Kress-Gazit, HadasConnor, David CChoset, HowieRizzi, Alfred APappas, George J2023-05-222023-05-222008-03-012008-04-30https://repository.upenn.edu/handle/20.500.14332/33554A major goal in robotics is to develop machines that perform useful tasks with minimal supervision. Instead of requiring each small detail to be specified, we would like to describe the task at a high level and have the system autonomously execute in a manner that satisfies that desired task. While the single robot case is difficult enough, moving to a multirobot behavior adds another layer of challenges. Having every robot achieve its specific goals while contributing to a global coordinated task requires each robot to react to information about other robots, for example, to avoid collisions. Furthermore, each robot must incorporate new information into its decision framework to react to environmental changes induced by other robots since this knowledge may effect its behavior.GRASPArticle