While traditional robotic systems come with a monolithic system design,\nreconfigurable multi-robot systems can share and shift physical resources in an\non-demand fashion. Multi-robot operations can benefit from this flexibility by\nactively managing system redundancies depending on current tasks and having\nmore options to respond to failure events. To support this active exploitation\nof redundancies in robotic systems, this paper details an organization model as\nbasis for planning with reconfigurable multi-robot systems. The model allows to\nexploit redundancies when optimizing a multi-robot system's probability of\nsurvival with respect to a desired mission. The resulting planning approach\ntrades safety against efficiency in robotic operations and thereby offers a new\nperspective and tool to design and improve multi-robot missions. We use a\nsimulated multi-robot planetary exploration mission to evaluate this approach\nand highlight an exemplary performance landscape.\n