Task reallocation in multi-robot formations

This paper considers the task reallocation problem, where k robots are to be extracted from a coordinated group of N robots in order to perform a new task. The interaction between the team members and the cost associated with this interaction are represented by a directed weighted graph. Consider a group of N robots organized in a formation. The graph is the monitoring graph which represents the sensorial capabilities of the robots, i.e., which robot can sense the other and at what cost.