Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: CARE: Cooperative Autonomy for Resilience and Efficiency of Robot Teams
  for Complete Coverage of Unknown Environments under Robot Failures   This paper addresses the problem of Multi-robot Coverage Path Planning (MCPP)
for unknown environments in the presence of robot failures. Unexpected robot
failures can seriously degrade the performance of a robot team and in extreme
cases jeopardize the overall operation. Therefore, this paper presents a
distributed algorithm, called Cooperative Autonomy for Resilience and
Efficiency (CARE), which not only provides resilience to the robot team against
failures of individual robots, but also improves the overall efficiency of
operation via event-driven replanning. The algorithm uses distributed Discrete
Event Supervisors (DESs), which trigger games between a set of feasible players
in the event of a robot failure or idling, to make collaborative decisions for
task reallocations. The game-theoretic structure is built using Potential
Games, where the utility of each player is aligned with a shared objective
function for all players. The algorithm has been validated in various complex
scenarios on a high-fidelity robotic simulator, and the results demonstrate
that the team achieves complete coverage under failures, reduced coverage time,
and faster target discovery as compared to three alternative methods.

25
The categories of this paper are: patt-sol
30
The categories of this paper are: q-alg
19
The categories of this paper are: eess
17
The categories of this paper are: q-fin
3
The categories of this paper are: physics
31
The categories of this paper are: ao-sci
4
The categories of this paper are: cond-mat
6
The categories of this paper are: astro-ph
29
The categories of this paper are: funct-an
10
The categories of this paper are: q-bio
16
The categories of this paper are: stat
24
The categories of this paper are: dg-ga
26
The categories of this paper are: bayes-an
9
The categories of this paper are: nlin
18
The categories of this paper are: econ
14
The categories of this paper are: math-ph