Value-based action selection for exploration and dynamic target observation with robot teams

Move Value Estimation for Robot Teams (MVERT) is a robot action selection algorithm for teams performing multiple competing tasks. The goal of MVERT is to select actions for robot team members to maximize the team´s joint utility toward overall mission progress in a computationally efficient manner. MVERT is fully distributed, with each robot using information about other teammates to select its action with the greatest value. MVERT selects actions for a robot team to perform multi-task exploration and dynamic target observation. Successful action selection is demonstrated in simulation for exploration and in simulation and on robots for dynamic target observation.