Abstract
In this paper, we address a rearrangement task involving multiple robots. We focus on small working environments composed of narrow corridors. In such an environment, interference between robots resulting from a competition for physical space can affect the overall performance in a rearrangement task. Because of the enormous amount of calculation time required to develop a motion plan for each robot considering the effect of interference, it is difficult to apply the former approach directly. In this paper, we propose a practical method using a territorial approach where the working area of each robot is defined so that there is no overlap. Because robots can develop a motion plan with less consideration of interference between other robots, the entire calculation time can be reduced. In this method, we obtain the order of sub-task executions as a solution to a project scheduling problem. However, some constraints that have not been dealt with in research involving scheduling may arise. We analyzed these new constraints and proposed a metaheuristic strategy to determine the order of sub-tasks. The proposed method is tested in a simulated environment with up to four mobile robots, 12 movable objects, and a complicated arrangement of objects.
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Fujii, N., Inoue, R., Ota, J. (2009). Rearrangement Task by Multiple Robots Using a Territorial Approach. In: Asama, H., Kurokawa, H., Ota, J., Sekiyama, K. (eds) Distributed Autonomous Robotic Systems 8. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00644-9_29
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DOI: https://doi.org/10.1007/978-3-642-00644-9_29
Publisher Name: Springer, Berlin, Heidelberg
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