A Plan Manager for Multi-Robot Systems

Sylvain Joyeux (1) , Rachid Alami (1) , Simon Lacroix (1)

1 LAAS-RIS - Équipe Robotique et InteractionS

This paper presents a software component, the plan database, which provides the services needed to build and execute plans in a multi-robot context. This plan database handles fully dynamic plans (insertion and removal of tasks), provides tools for safe concurrent execution and modification of plans, and handles distributed plan supervision without permanent robot-to-robot communication. The proposed concept is illustrated by a simulated example that involves a rover and an UAV in an initially unmapped environment.

Mots clés: architecture; multi-robots

Domaines: Robotique [cs.RO]; Architectures Matérielles [cs.AR]

Sylvain Joyeux, Rachid Alami, Simon Lacroix. A Plan Manager for Multi-Robot Systems. 6th International Conference on Field and Service Robotics, Jul 2007, Chamonix, France. ⟨hal-00166798⟩