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Planning Coordination and Execution in Multirobots Environment \Lambda Rachid Alami and F'elix Ingrand and Samer Qutub y

Summary: Planning Coordination and Execution in Multi­robots Environment \Lambda
Rachid Alami and F'elix Ingrand and Samer Qutub y
7, Avenue du Colonel Roche, 31077 Toulouse Cedex 04
E­mail: frachid,felix,samg@laas.fr
We present and discuss a generic cooperative scheme
for multi­robot cooperation based on an incremental
and distributed 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 col­
lect the other robots current plans and goals and to
produce plans which satisfy a set of constraints that
will be discussed.
We discuss the properties of this cooperative scheme
(coherence, detection of dead­lock situations) as well
as the class of applications for which it is well suited.
We show how this paradigm can be used in a hi­
erarchical manner, and in contexts where planning


Source: Alami, Rachid - Laboratoire d'Analyse et d'Architecture des Systèmes du CNRS


Collections: Engineering; Computer Technologies and Information Sciences