Facilitating Planning by Using Self-Organization

Current approaches to increase autonomy of multi-robot applications are often tailored to particular applications. This specialization is necessary due to specific requirements to the robots' capabilities in dedicated applications or environments. We present an approach to overcome this specialization by separating capabilities from robots and enabling their self-organized reconfiguration at run-time. This reduces the need of re-planning by absorbing uncertainties and at the same time enables to easily use the same robots in different scenarios.