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Rearrangement task realization by multiple mobile robots with efficient calculation of task constraints

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3 Author(s)
Fujii, N. ; Dept. of Precision Eng., Tokyo Univ. ; Tsai-Lin Chou ; Ota, J.

We address a rearrangement task by multiple robot in this paper. A rearrangement task has constraints regarding the order of the start, grasping and finish time. Calculating these constraints has a high computational cost. We propose a rearrangement method that calculates constraints efficiently. In our approach, not all constraints are calculated, but some of them will be calculated step by step. The proposed method is tested in a simulated environment with up to 4 mobile robots. The methods are compared, and the results indicate that the proposed method is superior.

Published in:

Robotics and Automation, 2007 IEEE International Conference on

Date of Conference:

10-14 April 2007