Ease to Deploy and Flexibility

In order to establish the task selection criterion, the human operator only needs to choose the extra distance he is willing to ask the robots to travel in order to keep or enlarge the connectivity level of the fleet. From this criterion and through formal analysis, the weights of these potentially conflicting objectives are derived. This way the robots can deal with communication constraints auto-adjusting the weights of each objective in a more intuitive manner. Furthermore, by eliminating the need for training stages the system is more adaptable to different environments.
