Multi-Robot System Architecture Focusing on Plan Recovery for Dynamic Environments

Carlos Joel Tavares da Silva, Célia Ghedini Ralha

Abstract: The complexity of multi-robot systems (MRS) involves the challenging task of robot coordination to achieve the system's goal. That indicates the necessity to integrate automated planning to mitigate disruptions and continually adjust the behavior of robots in the presence of failures. Adequate architectures to integrate MRS with automated planning present a gap in the literature, indicating the necessity for further research. To address this gap, we present the Multi-Robot System Architecture with Plan (MuRoSA-Plan) for mission coordination of heterogeneous robots illustrated with a healthcare service case. This work contribution is the MuRoSA-Plan architecture to MRS domain applications focusing on plan recovery. The experimental results show that MuRoSA-Plan generates runtime-adapted plans satisfying the goals of the multi-robot coordination case mitigating mission disruptions.