SOURCE-LINKED INTELLIGENCE
Pairwise Approximation Can Select the Wrong Multi-Robot Plan
Multi-robot coordination methods often score a joint plan from singleton and pairwise terms, leaving out the terms that involve three or more robots. We measure the plan-selection regret of two pairwise approximations to delivered coverage using frozen multi-robot trajectories. For each four-robot plan on an indoor exploration benchmark, replaying all 16 robot subsets gives the exact delivered-coverage set function $F$. From the same subset values we compute two pairwise scores: the exact order-2 Möbius truncation $F_2$, which depends only on the singleton and pair values, and an equal-weight
Read original source ↗ Open in workspace
- recordType
- paper
- region
- Global
Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-24T14:59:20.000Z
First collected: 2026-09-25T06:12:46.948Z. This is not the publication date.