Mutual state capability-based role assignment model

We formally present the Mutual State Capability-Based Role Assignment (MuSCRA) model, as we introduce that an agent, acting in a team, has capabilities that depend not only on its own individual skills, but also on its teammates and their mutual state. The MuSCRA model includes a description of roles in terms of its association value with states and actions. Role assignment policies are evaluated with a utility accounting for the match between the new mutual state capabilities and the desired roles, weighted by a risk factor.