Adaptive Fault Tolerant Execution of Multi-Robot Missions using Behavior Trees

Understand

Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions.

• In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a Behavior Tree (BT).
• By extending the single robot BT to a multi-robot BT, we are able to combine the fault tolerant properties of the BT, in terms of built-in fallbacks, with the fault tolerance inherent in multi-robot approaches, in terms of a faulty robot being replaced by another one.
• Furthermore, we improve performance by identifying and taking advantage of the opportunities of parallel task execution, that are present in the single robot BT.