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While traditional robotic systems come with a monolithic system design, reconfigurable multi-robot systems can share and shift physical resources in an on-demand fashion. Multi-robot operations can benefit from this flexibility by actively managing system redundancies depending on current tasks and having more options to respond to failure events. To support this active exploitation of redundancies in robotic systems, this paper details an organization model as basis for planning witharXiv:2106.12079v1 fatcat:e5mlj5uwozfk3i2j4pzrcj6vti