# MATE-BT: A Hierarchically Decentralized Behavior Tree Framework for Mission Autonomy in Heterogeneous Multi-Robot Teams

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/blt4h46png51sk3f8y6k9g6lp
- Original: https://arxiv.org/abs/2610.35429

## Summary

The paper proposes MATE-BT, a decentralized framework for heterogeneous multi-robot teams that hierarchically decouples mission execution, task allocation, and task execution. An onboard active leader manages mission progression and team-level task assignment, and authority transfers after a leader failure.