Robots that Cooperatively Enhance Their Plans

This paper presents a general architecture for multi-robot cooperation and then focuses on a scheme called “M+ Cooperative task achievement”. Its originality comes from the robots ability to detect and treat — in a distributed and cooperative manner — resource conflict situations as well as sources of inefficiency. We illustrate its use through a simulated system, which allows a number of robots to plan and perform cooperatively a set of servicing tasks in a hospital environment.

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