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Autonomous mobile robots have been deployed at hospitals to cope with numerous delivery services. Robots deliver items from point to point through autonomous navigation. Conventional robots work individually conducting only one task at a time. This paper proposes a fleet optimization method to maximize the advantages of operating a group of robots concurrently by assigning multiple tasks to a robot...
A fleet of autonomous mobile robots are used in the hospital for the delivery service. To increase the efficiency of using multiple robots, an appropriate task allocation algorithm is required. This paper explains the task allocation procedure for multiple robots and introduces two multi-task allocation (MT) algorithms to be applied in the hospital delivery service. The algorithms are tested via simulation,...
This paper considers multiple mobile robots for hospital logistics application. To increase the efficiency of using multiple robots, more than one delivery tasks can be assigned to a robot instead of delivering one package at a time. Since a robot can accept more than one task while delivering, a real-time routing method for visiting multiple pickup and delivery positions is required. This paper proposes...
Numerous materials are transported inside a hospital, which mostly relies on human porter. Mobile robots have been developed to substitute such human effort. These robots are able to navigate autonomously within a hospital. To estimate the number of robots to be obtained by a hospital, this paper introduces a simulator which enables comparison of the delivery performance according to the number of...
A number of materials are delivered inside a hospital, and a fleet of autonomous navigating mobile robots are applied to replace these heavy mobility works. To increase the efficiency of using multiple robots, more than one delivery tasks can be assigned to a robot instead of delivering only one package at a time. This multi-task allocation algorithm (MTA) is introduced in this paper and a simulator...
A number of materials are delivered inside a hospital, and a fleet of autonomous navigating mobile robots are applied to replace these heavy mobility works. To increase the efficiency of using multiple robots, more than one delivery tasks can be assigned to a robot instead of delivering only one package at a time. This multi-task allocation algorithm (MTA) is introduced in this paper and a simulator...
This paper presents a mathematical formulation of the problem of cleaning a large public space with multiple robots, along with a procedural solution based on task reallocation. The task in this problem is the cleaning zone. A group of robots are assigned to each cleaning zones according to the amount of Resource constraints make cleaning robots stop operation periodically, which can incur a mission...
This paper proposes an approach for fusing multiple RGBD sensors using geometry obtained from the captured image. We used Xtion Pro Live as the RGBD sensor. With the coupled line camera (CLC) method, the position of the camera is geometrically reconstructed when the size of a quadrilateral in the captured image is known. After roughly setting the hardware of multiple sensors on the frame, accurate...
This paper illustrates the problem for allocating robots in the mission of cleaning large area. The problem is formulated regarding map, environment, and robot. A control system for robot allocation is proposed. Normal office condition and corresponding sample cleaning robot are given for the experiment and its result are shown. Inevitability of need for allocation algorithm for the mission is explained...
Multi-robot system often require human assistance in practical situation. The level of controlling multiple robots in the real world lies somewhere between fully autonomous and fully manual. The optimal level of autonomy for the multi-robot system controller is discussed in this paper. Since human perception is limited for controlling large number of robots, interface design should consider separating...
Multi-robot cooperation promises increased performance and fault-tolerance in large-scale environments. To achieve the goal with these features, dynamic task allocation algorithm is required to adapt changing environment. Whereas previous researches mostly have been done for simplifying the mission and emphasizing the task allocation algorithm, this paper addresses the needs to analyze the mission...
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