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This paper addresses a rearrangement problem by a group of mobile robots and proposes a method for task assignment and path planning applicable to different kinds of environment. The method minimizes task completion time considering complexity of robot's paths in achieving the goal state of a working environment. It minimizes the number of possible delivery tasks between robots thereby reducing the task completion time. The proposed method is compared with continuous transportation method and Territorial Approach through simulations. The results of simulations show the effectiveness of the proposed method. The proposed method can realize an efficient rearrangement task by mobile robots in various working environments under feasible computation time.