Method, System, and Program for Establishing Task and Motion Plans for Relocating Objects Through Collaboration of Multiple Manipulator Robots

Technology for Planning Collaborative Object Relocation by Multiple Manipulator Robots Based on Maximizing Task Handovers

This technology calculates independent object relocation plans for individual robots and aggregates them to create a collaborative plan that maximizes the number of task handovers, while also deriving unit task sequences and collision-free motion plans for the shortest possible execution time.

Object relocation using a single manipulator robot is inefficient in space-constrained environments, and there has been a lack of planning technology that allows multiple robots to collaborate effectively to relocate objects.

This technology proposes a step-by-step framework—individual planning → collaborative planning → task sequence determination → motion planning—to maximize task handovers between robots. It can be applied to multi-robot cells in smart factories and automated logistics lines, increasing collaboration efficiency and significantly reducing total task time.

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Key Features:

• A step of calculating independent object relocation task plans for individual robots to facilitate collaboration among multiple manipulator robots
• A step of aggregating individual robot task plans to calculate a collaborative plan that maximizes the number of task handovers
• A step of determining unit task sequences for multiple robots to execute the collaborative plan in the shortest possible time
• A step of establishing motion plans to ensure multiple robots execute task sequences without colliding with one another