Hi,
Yes, as Collin said, as a good practice you have to deploy APs with 100% coverage overlap for the redundancy.
Your scenario may be possible if you keep APs close to eachother and enable ARM, ARM detects co-channel interferance and converts one of the AP in to AM and if other AP fails, AM will be turn back to AP.
This can not be done mannually :)
Hope got some more clarity.