Transcript IEEE ICRA'07 Digest Template

Rearrangement task realization by multiple mobile
robots with efficient calculation of task constraints
Norisuke Fujii, Tsai-Lin Chou, and Jun Ota
Department of Precision Engineering, The University of Tokyo, Japan
• A rearrangement task contains
constraints on the order of task
execution
• We propose a rearrangement
method that calculates constraints
efficiently
• Robots calculate a part of, not all,
the task constraints step by step
• The proposed method is tested in
a simulated environment with up to
5 objects and 4 mobile robots
Initial state
Final state
robots must grasp object 5 before the finish
time of task 2