Hierarchical Task Planning Considering Communication Status for Multi-Robot System

As the roles of robots have expanded, flexible task planning frameworks have received significant attention in various domains. In particular, task planning based on multi-agent systems is essential because tasks can be performed efficiently in broad areas by utilizing such systems. This paper proposes various task-planning methods according to the communication statuses of robots. The proposed methods were successfully verified through experiments in which a multi-agent system consisting of a central control system and several robots was applied. Our experimental setup assumed that the central control system and robots had different communication statuses.