Multiple robot rearrangement problem using an extended project-scheduling problem solver

Authors:
Norisuke Fujii;Reiko Inoue;Jun Ota
Affiliations:
Department of Precisioni Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Japan;Department of Precisioni Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Japan;Department of Precisioni Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Japan
Venue:
ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
Year:
2009

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Discovering and restoring changes in object positions using an autonomous robot with laser rangefinders

Robotics and Autonomous Systems

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Abstract

In this paper, we address a multiple robot rearrangement problem. We focus on a small working environment composed of narrow corridors. In such an environment, adequate priority settings are required to prevent robots from having collisions. As a result, enormous calculation time is required. We propose a practical method utilizing partitions that divide the entire complicated problem into multiple simple sub-problems. Among these sub-problems, new constraints related to task execution order occur. Therefore, we extend the existing project-scheduling problem solver to cope with these new constraints. The proposed method is tested in a simulated environment with up to 4 mobile robots and 12 movable objects. The simulation results show that our method can be used to obtain a solution in a feasible calculation time.