A processor implemented method, comprising: obtaining in a first mode, via one or more hardware processors, an input comprising one or more specifications, wherein the one or more specifications correspond to one or more agents, one or more associated sensors, one or more tasks to be performed by the one or more agents, one or more sensor errors, one or more zones, and one or more environments; evaluating in the first mode, via the one or more hardware processors, a distance to be traversed by the one or more agents in the one or more environments; evaluating in the first mode, via the one or more hardware processors, a probability of failing to detect one or more obstacles by the one or more agents in a specific zone of the one or more zones based on the evaluated distance; evaluating in the first mode, via the one or more hardware processors, (i) an expected time taken to traverse, and (ii) an expected number of encounterable collisions during execution of the one or more tasks based on the probability of failing to detect one or more obstacles by the one or more agents; performing in the first mode, via the one or more hardware processors, a first comparison of (i) the evaluated expected time and a pre-defined expected time, (ii) the expected number of encounterable collisions and a pre-defined number of permissible collisions; and enabling on the first comparison, via the one or more hardware processors, deployment of the one or more agents in the one or more environments for execution of the one or more tasks based, wherein the one or more agents execute the one of more tasks in a second mode. obtaining in a first mode, via one or more hardware processors, an input comprising one or more specifications, wherein the one or more specifications correspond to one or more agents, one or more associated sensors, one or more tasks to be performed by the one or more agents, one or more sensor errors, one or more zones, and one or more environments; evaluating in the first mode, via the one or more hardware processors, a distance to be traversed by the one or more agents in the one or more environments; evaluating in the first mode, via the one or more hardware processors, a probability of failing to detect one or more obstacles by the one or more agents in a specific zone of the one or more zones based on the evaluated distance; evaluating in the first mode, via the one or more hardware processors, (i) an expected time taken to traverse, and (ii) an expected number of encounterable collisions during execution of the one or more tasks based on the probability of failing to detect one or more obstacles by the one or more agents; performing in the first mode, via the one or more hardware processors, a first comparison of (i) the evaluated expected time and a pre-defined expected time, (ii) the expected number of encounterable collisions and a pre-defined number of permissible collisions; and enabling on the first comparison, via the one or more hardware processors, deployment of the one or more agents in the one or more environments for execution of the one or more tasks based, wherein the one or more agents execute the one of more tasks in a second mode.