This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We propose a needs-driven multi-robot cooperation mechanism represented through a Behavior Tree structure and evaluate the system's performance in terms of the group utility and energy cost to achieve the rescue mission in a limited time. From the theoretical analysis, we prove that the needs-driven cooperation in a heterogeneous robot system enables higher group utility than a homogeneous robot system. We also perform simulation experiments to verify the proposed needs-driven collaboration and show that the heterogeneous multi-robot cooperation can achieve better performance and increase system robustness by reducing uncertainty in task execution. Finally, we discuss the application to human-robot teaming.

中文翻译：

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救援任务中需求驱动的异构多机器人合作

本文重点介绍应用于机器人辅助城市搜索和救援 (USAR) 任务的多机器人系统中的协作方面和异质性的作用。我们提出了一种以行为树结构为代表的需求驱动的多机器人协作机制，并从群体效用和能源成本方面评估系统的性能，以在有限的时间内完成救援任务。从理论分析中，我们证明异构机器人系统中的需求驱动合作比同类机器人系统具有更高的群体效用。我们还进行了仿真实验来验证所提出的需求驱动协作，并表明异构多机器人协作可以通过减少任务执行中的不确定性来实现更好的性能并提高系统鲁棒性。最后，