I just did something very similar:

- name: Check Nodes
  hosts: all
  gather_facts: false
  tasks:
  - name: ping hosts
    ping:
    ignore_errors: True
    ignore_unreachable: True
    register: ping_results

- hosts: localhost
  gather_facts: false
  tasks:
  - name: Add failed hosts to failed_group
    add_host:
      hostname: "{{ item }}"
      groups: unreachable
    when: hostvars[item]['ping_results'] is unreachable
    loop: '{{groups["all"]}}'

  - name: just for show, but here you can do any actions like
'bootstraping' the machines, removing from inventory, etc
    debug:
      msg: "{{ groups['unreachable'] }}"

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