Search Algorithm of the Order of Object Transportation by Multiple Robots

To execute a task consisting of multiple subtasks using a robot, we need to determine the subtask execution order. We investigated the problem of cooperative object transport by multiple robots in a previous study. This is a task in which multiple robots carry an object to a specified goal by passing the object between each other. This paper proposes two algorithms that automatically determine the passing order between robots. This is a difficult task to find an optimum solution. Our algorithms reduce the amount of information that the operator needs to give to the robots and makes robot operations easy. The effectiveness of the algorithms was verified through simulation