# Cooperative planning for physically interacting heterogeneous robots

## TL;DR

This paper introduces a new method for coordinating different types of robots to work together and complete tasks that no single robot could do alone.

## Contribution

The novel approach allows heterogeneous robots to cooperate and perform tasks that are impossible for individual agents.

## Key findings

- Cooperative behavior planning enables tasks that are infeasible for single robot modalities.
- The approach allows physical interaction between heterogeneous robots to achieve new functionalities.

## Abstract

Heterogeneous multi-agent systems can be deployed to complete a variety of tasks, including some that are impossible using a single generic modality. This paper introduces an approach to solving the problem of cooperative behavior planning in small heterogeneous robot teams where members can both function independently as well as physically interact with each other in ways that give rise to additional functionality. This approach enables, for the first time, the cooperative completion of tasks that are infeasible when using any single modality from those agents comprising the team.