HiDDeN: Cooperative plan execution and repair for heterogeneous robots in dynamic environments

This paper presents HiDDeN, a high-level distributed architecture for multi-robot cooperation. HiDDeN aims at controlling a team of heterogeneous robots in environments with uncertain communications. It relies on a mission plan defined as an instantiated HTN, i.e. a hierarchical decomposition of robots´ tasks. This hierarchical structure also benefits to plan repair operations in case of failure detections. This repair is made as local as possible, in order to avoid unnecessary communications between robots.