Differentiated Multi-Agent Navigation

A system, comprising:

• one or more computers and one or more storage devices on which are stored instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:
• receiving relative distance data specifying distance between at least one pair of agents of a plurality of agents, each of a first subset of the plurality of agents having an anomaly sensor subsystem and each of a second subset of the plurality of agents not having an anomaly sensor subsystem;
• determining a set of relative pose vectors based at least in part on the relative distance data;
• receiving anomaly data from at least one anomaly sensor subsystem of one of the plurality of agents;
• obtaining pre-surveyed map data;
• determining global pose data of the plurality of agents based on the relative distance data and based on comparing the anomaly data to the pre-surveyed map data;
• and
• assigning a task to at least one of the plurality of agents based at least in part on a specialized operational capability of the at least one of the plurality of agents.

One or more computer-readable storage media encoded with instructions that, when executed by one or more computers, cause the one or more computers to perform operations comprising:

• receiving relative distance data specifying distance between at least one pair of agents of a plurality of agents, each of a first subset of the plurality of agents having an anomaly sensor subsystem and each of a second subset of the plurality of agents not having an anomaly sensor subsystem;
• determining a set of relative pose vectors based at least in part on the relative distance data;
• receiving anomaly data from at least one anomaly sensor subsystem of one of the plurality of agents;
• obtaining pre-surveyed map data;
• determining global pose data of the plurality of agents based on the relative distance data and based on comparing the anomaly data to the pre-surveyed map data;
• and
• assigning a task to at least one of the plurality of agents based at least in part on a specialized operational capability of the at least one of the plurality of agents.