The Team Surviving Orienteers problem: routing teams of robots in uncertain environments with survival constraints

@article{Jorgensen2018TheTS,
  title={The Team Surviving Orienteers problem: routing teams of robots in uncertain environments with survival constraints},
  author={Stefan Jorgensen and Robert H. Chen and Mark B. Milam and Marco Pavone},
  journal={Autonomous Robots},
  year={2018},
  volume={42},
  pages={927-952}
}
We study the following multi-robot coordination problem: given a graph, where each edge is weighted by the probability of surviving while traversing it, find a set of paths for K robots that maximizes the expected number of nodes collectively visited, subject to constraints on the probabilities that each robot survives to its destination. We call this the Team Surviving Orienteers (TSO) problem, which is motivated by scenarios where a team of robots must traverse a dangerous environment, such… 

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An O(log OPT) approximation is obtained for a generalization of the orienteering problem in which the profit for visiting each node may vary arbitrarily with time and the implications for the approximability of several basic optimization problems are interesting.