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Cooperative Risk-Aware Exploration in Heterogeneous Multi-Robot Systems Using Algorithmic Altruism

arXiv · AI, language, vision and robotics · article · Aug 28, 2026 · UTC

Multi-robot systems are well-positioned for exploration in hazardous environments, but effective deployment requires deciding not only where robots should gather information, but also how risk should be distributed across heterogeneous team members. This paper develops a game-theoretic framework for cooperative risk-aware exploration based on ecologically inspired altruistic behavior. Each robot selects a finite-horizon trajectory to maximize information gain while penalizing redundant exploration and expected hazard exposure. Heterogeneity is introduced through agent-specific value parameters

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