Summary
This paper presents a software component, the plan database, which provides the services needed to build and execute plans in a multi-robot context. This plan database 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 simulated example that involves a rover and an UAV in an initially unmapped environment.
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© 2008 Springer-Verlag Berlin Heidelberg
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Joyeux, S., Alami, R., Lacroix, S. (2008). A Plan Manager for Multi-robot Systems. In: Laugier, C., Siegwart, R. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 42. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75404-6_42
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DOI: https://doi.org/10.1007/978-3-540-75404-6_42
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-75403-9
Online ISBN: 978-3-540-75404-6
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