Abstract
This paper proposes a method of relocating storage devices attached to environment for sharing knowledge efficiently among multiple robots. If a robot stores acquired knowledge into the storage device attached to the environment, other robots can achieve the task by using the knowledge. In order to use the storage device efficiently, it is required to store more useful knowledge for achieving tasks. Therefore, we propose a method of evaluating usefulness of the knowledge with respect to the reducible cost and storing more useful knowledge in the storage device. A memory unit containing with useless knowledge is removed from the storage device and added to the device which more useful knowledge is required. Then, the robots can store useful knowledge for whole environment and the memory units are flexibly relocated according to the change of a series of the tasks. The simulation results of multiple robots navigation for repetitive transportation tasks show the effectiveness of our method.
