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Servicebots-a scalable architecture for autonomous service robots

The proposed architecture is designed for a group of service robots operating in structured environments. Although each robot is an autonomous systems, the group of service robots is coordinated to ensure a reliable service delivery. The relationship between the autonomy of behavior of each robot and the coordination of the team is the backbone of the proposed architecture. We show how aspects related to high availability scalability and reliability can be insured while keeping a decision autonomy of the robots. We conclude our paper by comparing our architecture with the SAPHIRA reference architecture.