Abstract
This paper presents a method for multi-robot task planning: planning of a mobile robot (parent robot) cooperating with robots which remove obstacles on the parent path (child robots). By using a grid map, this method (1) simulates movement of each robot, (2) estimates total time of travel of the parent robot and (3) optimizes the assignment of each robot's task to minimize the total time. To be robust to unexpected environmental changes in a room, the planning is updated regularly. Our experiment using physical robots showed that the parent robot arrived at the goal cooperating with child robots though an unpredictable obstacle blocked parent's path during its travel.
