This paper describes a technique for the autonomous mission planning of robotic swarms in high risk environments where agent disablement is likely. Given a swarm operating in a known area, a central command system generates measurements from the swarm. If those measurements indicate changes to the mission situation such as target movement or agent loss, the swarm planning is updated to reflect the new situation and guidance updates are broadcast to the swarm. The primary algorithms featured in this work are A* pathfinding and the Generalized Labeled Multi-Bernoulli multi-object tracking method.

翻译：本文介绍了在高风险环境中对机器人群进行自主任务规划的一种技术,在高风险环境中,有可能发生物剂失效。鉴于在已知地区运行的群群,中央指挥系统从群群中产生测量结果。如果测量结果显示任务情况的变化,如目标移动或物剂损失,则对群群规划进行更新,以反映新的情况,并将指导更新结果广播给群群。这项工作的主要算法是A* 路由法和通用标签多贝诺利多目标跟踪方法。