Centralized, Distributed, Hybrid Task Planning Framework for Multi-Robot System in Diverse Communication Status

Centralized, Distributed, Hybrid Task Planning Framework for Multi-Robot System in Diverse Communication Status

As the role of robots expands, flexible task planning methods are attracting attention from various domains. Many task planning frameworks are introduced to efficiently work in a wide range of areas. In order to work well in a broad region with multiple robots, various communication conditions should be controlled by task planning frameworks. However, few methods are proposed. In this paper, we propose mission planning methods according to the communication status of robots. The proposed method was verified through experiments assuming different communication states with a multi-robot system.