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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 to transportation order and scarcity of spatial resources. Therefore, it is difficult to develop an adequate method to deal with map errors and still maintain task performance. We primarily address two questions: what kinds of tactics are needed and when these tactics should be applied. Our method involves adopting a problem-partitioning structure that divides a complicated rearrangement problem into simple subproblems. Furthermore, we design a real mobile robot group. Using the realization method and real robot group, we conduct experiments involving a rearrangement task in an actual environment. The results show that our proposed method can cope with map errors quickly, while maintaining task realization performance.

Realization method for a rearrangement task by multiple mobile robots in consideration of map errors