A Scheme for Coordinating Multi robot Planning Activities and Plans Execution

We present and discuss a generic scheme for multi robot cooperation based on an incremental and dis tributed plan merging process Each robot autonomously and incrementally builds and executes its own plans taking into account the multi robot 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 dead lock situations how it lls the gap between centralized and distributed planning and the class of applications for which it is well suited We nally illustrate this scheme through an implemented system which allows a eet 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 exibility and robustness to execution contingencies