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This paper presents a reusable framework for developing adaptive multi-robotic systems for heterogeneous robot teams using an organization-based approach. The framework is based on the Organizational Model for Adaptive Computational Systems (OMACS) and the Goal Model for Dynamic Systems (GMoDS). GMoDS is used to capture system-level goals that drive the(More)
Easy missions is an approach to machine learning that seeks to synthesize solutions for complex tasks from those for simpler ones. ISLES (Incrementally Staged Learning from Easier Subtasks) [1] is a genetic programming (GP) technique that achieves this by using identified goals and fitness functions for subproblems of the overall problem. Solutions evolved(More)
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