  This paper describes a technique for the autonomous mission planning of
robotic swarms in high risk environments where agent disablement is likely.
Given a swarm operating in a known area, a central command system generates
measurements from the swarm. If those measurements indicate changes to the
mission situation such as target movement or agent loss, the swarm planning is
updated to reflect the new situation and guidance updates are broadcast to the
swarm. The primary algorithms featured in this work are A* pathfinding and the
Generalized Labeled Multi-Bernoulli multi-object tracking method.
