Summary: A Scheme for Coordinating Multirobot Planning
Activities and Plans Execution
Rachid Alami and F'elix Ingrand and Samer Qutub 1
Abstract. We present and discuss a generic scheme for
multirobot cooperation based on an incremental and dis
tributed planmerging process. Each robot, autonomously and
incrementally builds and executes its own plans taking into
account the multirobot context. The robots are assumed to
be able to collect the other robots plans and to coordinate
their own plans with the other robots plans to produce ``co
ordinated plans'' that ensure their proper execution.
We discuss the properties of this cooperative paradigm (co
herence, detection of deadlock situations, ...) , how it ``fills
the gap'' between centralized and distributed planning and
the class of applications for which it is well suited.
We finally illustrate this scheme through an implemented
system which allows a fleet of autonomous mobile robots to
perform load transfer tasks in a route network environment
with a very limited centralized activity and important gains in
system flexibility and robustness to execution contingencies.