No abstract

A rearrangement task of multiple objects is discussed here. In this paper, robots that carry more than one object simultaneously are referred to as multi-task functional, whereas a standard single-task robot carries one object at a time. With multi-task functional robots, the total length of transfer paths is shortened and the processing time is reduced. We propose a planning algorithm that consists of simulated annealing and a scheduling method using prioritization rules for a group of multi-task functional robots. We also propose a planning methodology on synchronization timing between the robots. Experiments involving two robots were conducted in real and simulated environments to show the effectiveness of the proposed algorithms.

No abstract

A robot having a multi-task function can carry more than two objects simultaneously; however, a robot without that function can carry only one at any given time. A multi-task function robot has the potential to shorten the transfer path, which reduces the process time; however, a single-function robot does not have that capability. In this paper, a planning algorithm that consists of Simulated Annealing and Scheduling with prioritization rules for a robot group having a multi-task function is proposed. Experiments are conducted in a real environment to validate the proposed algorithms.