I. Introduction
Diversity of robot capability and team size enables heterogeneous multi-robot system (MRS), including multiple robots with different motion speeds, accelerations, and capabilities, to their use in a variety of applications, such as search and rescue [1]–[3], environment monitoring [4]–[6], and disaster relief [7]. For example, in natural disaster search and rescue, a larger area is searched, and multiple victims are rescued because robots in MRS can operate in parallel.