対話による複数ロボット協調に基づく日常生活支援のための巡回作業行動の実現

抄録

It is desirable to use assistive robots to support daily tasks performed by humans. In this study, we conducted a routine patrol to manipulate and transport objects such as garbage disposal. By coordinating multiple robots with different characteristics, it is possible to perform long daily patrols, object manipulation, and transportation, which are challenges in performing such patrols. By using voice for the task handover process between robots, we were able to build a system that is robust against failures due to human intervention, as well as scalable to adapt to new robots by simply starting the task with voice commands.