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Multi-robot teams offer possibilities of improved performance and faulttolerance, compared to single robot solutions. In this paper, we show how torealize those possibilities when starting from a single robot system controlledby a Behavior Tree (BT). By extending the single robot BT to a multi-robot BT,we are able to combine the fault tolerant properties of the BT, in terms ofbuilt-in fallbacks, with the fault tolerance inherent in multi-robotapproaches, in terms of a faulty robot being replaced by another one.Furthermore, we improve performance by identifying and taking advantage of theopportunities of parallel task execution, that are present in the single robotBT. Analyzing the proposed approach, we present results regarding how missionperformance is affected by minor faults (a robot losing one capability) as wellas major faults (a robot losing all its capabilities). Finally, a detailedexample is provided to illustrate the approach.

Adaptive Fault Tolerant Execution of Multi-Robot Missions using Behavior Trees