STALC presents a graph-based hierarchical planner with mixed-integer programming for multi-robot coordination in reconnaissance scenarios, demonstrated in simulation and hardware.
A formal definition of the multi-robot multi-task time-extended assignment problem configura- tion,
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Stratified Topological Autonomy for Long-Range Coordination (STALC)
STALC presents a graph-based hierarchical planner with mixed-integer programming for multi-robot coordination in reconnaissance scenarios, demonstrated in simulation and hardware.