Using Dynamic Capability Evaluation to Organize a Team of Cooperative, Autonomous Robots

In our research, we have developed an architecture and computational structure that allows for a generic team of robots to dynamically discern what their capabilities are and then apply those to evaluate if the team can achieve an externally mandated set of goals. We define the process of dynamic capability evaluation to determine if a team of robots can build a cooperative organization with the necessary capabilities to satisfy a set of stated organizational goals. Based on this evaluation, the organization will decide whether to organize and proceed, relax some goals, or abandon the process of organization.