Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Adaptive and Risk-Aware Target Tracking with Heterogeneous Robot Teams   We consider a scenario where a team of robots with heterogeneous sensors must
track a set of hostile targets which induce sensory failures on the robots. In
particular, the likelihood of failures depends on the proximity between the
targets and the robots. We propose a control framework that implicitly
addresses the competing objectives of performance maximization and sensor
preservation (which impacts the future performance of the team). Our framework
consists of a predictive component -- which accounts for the risk of being
detected by the target, and a reactive component -- which maximizes the
performance of the team regardless of the failures that have already occurred.
Based on a measure of the abundance of sensors in the team, our framework can
generate aggressive and risk-averse robot configurations to track the targets.
Crucially, the heterogeneous sensing capabilities of the robots are explicitly
considered in each step, allowing for a more expressive risk-performance
trade-off. Simulated experiments with induced sensor failures demonstrate the
efficacy of the proposed approach.

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The categories of this paper are: alg-geom
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The categories of this paper are: comp-gas
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The categories of this paper are: econ
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The categories of this paper are: quant-ph
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The categories of this paper are: q-alg
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The categories of this paper are: hep-lat
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The categories of this paper are: bayes-an
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The categories of this paper are: math-ph
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The categories of this paper are: stat
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The categories of this paper are: hep-th
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The categories of this paper are: dg-ga
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The categories of this paper are: nucl-ex
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The categories of this paper are: nlin
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The categories of this paper are: funct-an
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The categories of this paper are: atom-ph
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The categories of this paper are: q-fin