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DOI: 10.4230/LIPIcs.CP.2026.40

Configuration of Heterogeneous Agent Fleets for Cognitively Demanding Missions

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

Published in: LIPIcs, Volume 379, 32nd International Conference on Principles and Practice of Constraint Programming (CP 2026)

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.

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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)

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@InProceedings{ligny_et_al:LIPIcs.CP.2026.40,
  author =	{Ligny, Lucas and Roussel, St\'{e}phanie and Picard, Gauthier and Vareilles, \'{E}lise},
  title =	{{Configuration of Heterogeneous Agent Fleets for Cognitively Demanding Missions}},
  booktitle =	{32nd International Conference on Principles and Practice of Constraint Programming (CP 2026)},
  pages =	{40:1--40:22},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-432-1},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{379},
  editor =	{Beldiceanu, Nicolas},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.CP.2026.40},
  URN =		{urn:nbn:de:0030-drops-266724},
  doi =		{10.4230/LIPIcs.CP.2026.40},
  annote =	{Keywords: Configuration, Heterogeneous Agent Fleet, Cognitive Load, Constraint Programming}
}

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Configuration of Heterogeneous Agent Fleets for Cognitively Demanding Missions

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