MOSAIC: Modular Scalable Autonomy for Intelligent Coordination of Heterogeneous Robotic Teams

• URL: http://arxiv.org/abs/2601.23038v2
• Date: Thu, 05 Mar 2026 09:27:35 GMT
• Title: MOSAIC: Modular Scalable Autonomy for Intelligent Coordination of Heterogeneous Robotic Teams
• Abstract summary: We present a scalable autonomy framework for multi-robot scientific exploration using a unified mission abstraction.<n>The proposed framework enables robust, scalable multi-robot scientific exploration with limited operator intervention.
• Score: 10.664029115378813
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Mobile robots have become indispensable for exploring hostile environments, such as in space or disaster relief scenarios, but often remain limited to teleoperation by a human operator. This restricts the deployment scale and requires near-continuous low-latency communication between the operator and the robot. We present MOSAIC: a scalable autonomy framework for multi-robot scientific exploration using a unified mission abstraction based on Points of Interest (POIs) and multiple layers of autonomy, enabling supervision by a single operator. The framework dynamically allocates exploration and measurement tasks based on each robot's capabilities, leveraging team-level redundancy and specialization to enable continuous operation. We validated the framework in a space-analog field experiment emulating a lunar prospecting scenario, involving a heterogeneous team of five robots and a single operator. Despite the complete failure of one robot during the mission, the team completed 82.3% of assigned tasks at an Autonomy Ratio of 86%, while the operator workload remained at only 78.2%. These results demonstrate that the proposed framework enables robust, scalable multi-robot scientific exploration with limited operator intervention. We further derive practical lessons learned in robot interoperability, networking architecture, team composition, and operator workload management to inform future multi-robot exploration missions.

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