{"paper":{"title":"MOSAIC: Modular Scalable Autonomy for Intelligent Coordination of Heterogeneous Robotic Teams","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Arne Roennau, David Oberacker, Hendrik Kolvenbach, Julia Richter, Lennart Puck, Marco Hutter, Marvin Grosse Besselmann, Maximilian Schik, Philip Arm, R\\\"udiger Dillmann, Sabine Bellmann, Tristan Schnell, William Talbot","submitted_at":"2026-01-30T14:46:15Z","abstract_excerpt":"Mobile robots have become indispensable for exploring hostile environments, such as in space or disaster relief scenarios, but often remain limited to teleoperation by a human operator. This restricts the deployment scale and requires near-continuous low-latency communication between the operator and the robot. We present MOSAIC: a scalable autonomy framework for multi-robot scientific exploration using a unified mission abstraction based on Points of Interest (POIs) and multiple layers of autonomy, enabling supervision by a single operator. The framework dynamically allocates exploration and "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2601.23038","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2601.23038/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}