A multi-robot cooperative task achievement system

Discusses a general architecture where various schemes for multi-robot task achievement can be integrated called “M+ Cooperative task achievement”. The main originality comes from its ability to allow the robots to detect-in distributed and cooperative manner-resource conflict situations as well as sub-optimalities. Different decisions are performed by the robots such as actions re-scheduling, suppression of redundancies and opportunistic enhancement of the global performance. Finally, we illustrate its use through a simulated system, which allows a number of robots to plan and perform cooperatively a set of tasks in a hospital environment