Managing safety and mission completion via collective run-time adaptation

Mobile Multi-Robot Systems (MMRSs) are an emerging class of systems that are composed of a team of robots, various devices (like movable cameras, sensors) which collaborate with each other to accomplish defined missions. Moreover, these systems must operate in dynamic and potentially uncontrollable and unknown environments that might compromise the safety of the system and the completion of the defined mission. A model of the environment describing, e.g., obstacles, no-fly zones, wind and weather conditions might be available, however, the assumption that such a model is both correct and complete is often wrong. In this paper, we describe an approach that supports execution of missions at run time. It addresses collective adaptation problems in a decentralized fashion, and enables the addition of new entities in the system at any time. Moreover, it is based on two adaptation resolution methods: one for (potentially partial) resolution of mission-related issues and one for full resolution of safety-related issues.