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A plan manager for multi-robot systems

Sylvain Joyeux 1 Rachid Alami 1 Simon Lacroix 1 Roland Philippsen 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This paper presents a software component, the plan manager, which provides the services needed to build and execute plans in a multi-robot context. This plan manager 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 scenario which involves the navigation of a rover and an UAV in an initially unmapped environment.
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Submitted on : Sunday, January 13, 2019 - 10:51:05 PM
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  • HAL Id : hal-01979786, version 1


Sylvain Joyeux, Rachid Alami, Simon Lacroix, Roland Philippsen. A plan manager for multi-robot systems. The International Journal of Robotics Research, SAGE Publications, 2009, 28 (2), pp.220-240. ⟨hal-01979786⟩



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