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When is heterogeneity in the composition of an autonomous robotic teambeneficial and when is it detrimental? We investigate and answer this questionin the context of a minimally viable model that examines the role ofheterogeneous speeds in perimeter defense problems, where defenders share atotal allocated speed budget. We consider two distinct problem settings anddevelop strategies based on dynamic programming and on local interaction rules.We present a theoretical analysis of both approaches and our results areextensively validated using simulations. Interestingly, our results demonstratethat the viability of heterogeneous teams depends on the amount of informationavailable to the defenders. Moreover, our results suggest a universalityproperty: across a wide range of problem parameters the optimal ratio of thespeeds of the defenders remains nearly constant.

The Role of Heterogeneity in Autonomous Perimeter Defense Problems