  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 with reconfigurable multi-robot systems. The model allows to
exploit redundancies when optimizing a multi-robot system's probability of
survival with respect to a desired mission. The resulting planning approach
trades safety against efficiency in robotic operations and thereby offers a new
perspective and tool to design and improve multi-robot missions. We use a
simulated multi-robot planetary exploration mission to evaluate this approach
and highlight an exemplary performance landscape.
