research/703-noise-and-task-alloc

[jharwell]

Given COSM#138, use the noise covariance matrix as an input into task
allocation; i.e., if a sensor type is failing, try a different task which does
not use it as much, if possible.

• This would be useful with helping the swarm to become more robust to sensor
  and actuator noise when said noise is spikey, periodic, or transient.

From Ramachandran2019.