EXECUTING CENTRALIZED AND DECENTRALIZED CONTROLLED PLANS COLLABORATIVELY BY AUTONOMOUS ROBOTS

A system and method to control execution of a centralized and decentralized controlled plan, has been described. A plan execution engine executing at a cloud node, receives sensor data captured by one or more sensors at a plurality of autonomous robots and a plan execution status of the centralized controlled plan. The plan execution engine executing at the cloud node, determines whether the plurality of autonomous robots satisfy a transition condition. Next a determination is made one or more activated constraints and task allocation for one or more autonomous robots in the next state. Next the plan execution engine executing at the cloud node and autonomous robots collaboratively determine a constraint solution for the activated one or more plan constraints. Finally based on the determined constraint solution, the one or more plan execution engines sends instructions to an actuator for executing the task included in the centralized controlled plan.