We present a general multi-robot task planning and execution (MRTPE) architecture for a team of heterogeneous mobile robots that interact with multiple human users. The designed architecture is implemented within an environment where such robots provide daily assistance to residents in a retirement home setting. The robots are able to allocate and schedule activities throughout the day and find the appropriate residents with whom to engage in the assistive activities. At the beginning of the day, the robot person search (RPS) system autonomously searches for, and finds, multiple human users in an environment within a required time interval. Upon finding users, the robot queries each user for his/her availability and interest in various activities. We then use constraint programming (CP) within a multi-robot task allocation and scheduling (MRTA) system to plan and schedule the robot team to facilitate individual and group activities, ensuring consistency with user-expressed availability and activity preferences. We test the components of the architecture on a physical multi-robot system to verify the utility of the design. Experiments indicate the design can effectively plan and execute assistive activities for multiple users.
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