# Onboard Mission Replanning for Adaptive Cooperative Multi-Robot Systems

arXiv: https://arxiv.org/abs/2506.06094 · HTML: https://mlsanity.com/paper/2506.06094/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 11 of its 40 references that are in the map.
- First posted on arXiv 6 Jun 2025.

## Builds on (most cited first, 11 of 11)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Neural Combinatorial Optimization with Reinforcement Learning](https://mlsanity.com/paper/1611.09940/) (2016)
- [Reinforcement Learning for Solving the Vehicle Routing Problem](https://mlsanity.com/paper/1802.04240/) (2018)
- [Reinforcement Learning for Combinatorial Optimization: A Survey](https://mlsanity.com/paper/2003.03600/) (2020)
- [RL4CO: an Extensive Reinforcement Learning for Combinatorial Optimization Benchmark](https://mlsanity.com/paper/2306.17100/) (2023)
- [MVMoE: Multi-Task Vehicle Routing Solver with Mixture-of-Experts](https://mlsanity.com/paper/2405.01029/) (2024)
- [DPN: Decoupling Partition and Navigation for Neural Solvers of Min-max Vehicle Routing Problems](https://mlsanity.com/paper/2405.17272/) (2024)
- [Influence of Initialization on the Performance of Metaheuristic Optimizers](https://mlsanity.com/paper/2003.03789/) (2020)
- [Hybrid Pointer Networks for Traveling Salesman Problems Optimization](https://mlsanity.com/paper/2110.03104/) (2021)
- [Optimizing Communication and Computation for Multi-UAV Information Gathering Applications](https://mlsanity.com/paper/1610.04091/) (2016)
- [K-nearest Multi-agent Deep Reinforcement Learning for Collaborative Tasks with a Variable Number of Agents](https://mlsanity.com/paper/2201.07092/) (2022)

## Abstract (arXiv)

Cooperative autonomous robotic systems have significant potential for executing complex multi-task missions across space, air, ground, and maritime domains. But they commonly operate in remote, dynamic and hazardous environments, requiring rapid in-mission adaptation without reliance on fragile or slow communication links to centralised compute. Fast, on-board replanning algorithms are therefore needed to enhance resilience. Reinforcement Learning shows strong promise for efficiently solving mission planning tasks when formulated as Travelling Salesperson Problems (TSPs), but existing methods: 1) are unsuitable for replanning, where agents do not start at a single location; 2) do not allow cooperation between agents; 3) are unable to model tasks with variable durations; or 4) lack practical considerations for on-board deployment. Here we define the Cooperative Mission Replanning Problem as a novel variant of multiple TSP with adaptations to overcome these issues, and develop a new encoder/decoder-based model using Graph Attention Networks and Attention Models to solve it effectively and efficiently. Using a simple example of cooperative drones, we show our replanner consistently (90% of the time) maintains performance within 10% of the state-of-the-art LKH3 heuristic solver, whilst running 85-370 times faster on a Raspberry Pi. This work paves the way for increased resilience in autonomous multi-agent systems.