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In this paper, we address a rearrangement task involving multiple robots. We focus on small working environments composed of narrow corridors. In such an environment, interference between robots resulting from a competition for physical space can affect the overall performance in a rearrangement task. Because of the enormous amount of calculation time required to develop a motion plan for each robot...
Planning alternative multiple carry-in/out paths is essential to the engineering work of replacement tasks in power plant maintenance, adapting to the uncertain 3D environment of the plant building. For this subject, dissimilarity of the planned paths and fast response time for the query are required for a path finding algorithm. Existing path finding algorithms can find exact multiple paths but the...
In this paper, we propose a realization method for a rearrangement task involving multiple movable objects and mobile robots. All of the objects are transported from their initial positions to goal positions. It is important for mobile robots to cope with map errors in order to execute tasks in a real environment. However, a rearrangement task is a very complicated process involving constraints related...
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