Assertion: swarm | /r/CapableOf | decompose its given missions
Facets:
value: to their subtasks
type: TRANSITIVE-OBJECT
value: commonly
type: TEMPORAL
value: compared with individual robots
type: OTHER
Source sentences:
text: Compared with individual robots, a swarm can commonly decompose its given missions to their subtasks; A swarm is more robust to partial swarm failure and is more flexible with regard to different missions .