*1.5. Outline*

The present document is organised as follows. Section 2 provides the exploration problem formalisation including models and goals. Next, an *Auto-Adaptive Multi-Objective (AAMO)* task selection approach, as well as the task allocation algorithm and the decentralised coordination mechanism, are thoroughly described in Sections 3–5, respectively. Experimental results related to a baseline and to the *AAMO* approach itself are discussed in Section 6. Finally, the document is concluded highlighting some future research directions in Section 7.
