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Configuration of Heterogeneous Agent Fleets for Cognitively Demanding Missions

Authors Lucas Ligny , Stéphanie Roussel , Gauthier Picard , Élise Vareilles

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Subject Classification

ACM Subject Classification
  • Theory of computation → Constraint and logic programming
  • Computing methodologies → Knowledge representation and reasoning
  • Applied computing → Operations research
Keywords
  • Configuration
  • Heterogeneous Agent Fleet
  • Cognitive Load
  • Constraint Programming

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Abstract

This paper addresses the early stage design of a search-and-rescue mission by focusing on the configuration of the agent fleet, i.e., the selection and customization of each autonomous unit. To guide this configuration, two key evaluation criteria are introduced: (i) the performance - effectiveness of the fleet for executing the mission - and (ii) the operability - human workload required to supervise the fleet. We formally define the joint optimization problem that simultaneously selects a fleet layout and assesses these criteria, and we present a unified Constraint Programming model to solve it. The model incorporates three interchangeable cognitive workload sub-models of increasing granularity, allowing designers to test different assumptions about operator workload while balancing the two criteria. Experiments on realistic instances inspired by the RoboCup Rescue Simulation League show that the approach efficiently identifies several fleet configurations, offering a human-centered approach for early mission design.

Cite As Get BibTex

Lucas Ligny, Stéphanie Roussel, Gauthier Picard, and Élise Vareilles. Configuration of Heterogeneous Agent Fleets for Cognitively Demanding Missions. In 32nd International Conference on Principles and Practice of Constraint Programming (CP 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 379, pp. 40:1-40:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026) https://doi.org/10.4230/LIPIcs.CP.2026.40

Author Details

Lucas Ligny
  • DTIS, ONERA, Université de Toulouse, Toulouse, France
  • CGI, IMT Mines Albi, Université de Toulouse, Albi, France
Stéphanie Roussel
  • DTIS, ONERA, Université de Toulouse, Toulouse, France
Gauthier Picard
  • DTIS, ONERA, Université de Toulouse, Toulouse, France
Élise Vareilles
  • CGI, IMT Mines Albi, Université de Toulouse, Albi, France

Funding

  • Ligny, Lucas: This work has benefited from the support of the Agence de l'Innovation de Défense and the Office National d'Études et de Recherches Aérospatiales.

Supplementary Materials

References

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