Sensing Planning for Lifting by Multiple Mobile Robots

We are going to explain about sensing strategy of multiple mobile robot system, which is suitable for transport various objects whose mass and center of gravity are usually unknown. Our proposal is based on statics of manipulation by multiple fingers. We apply this analysis and sensing problem to optimal planning of multiple mobile robots. The main topic of in this paper is optimizing position of robots before the robots get started to lift an object up. Optimization in this case means maximizing probability of being successful in lifting an unknown object, without any overload situation. If lifting has resulted in failure, the robots renew the parameter of the object by their sensing data and plan their optimal lifting positions again. This optimizing process says that we can give an optimized solution according to probability of being successful, if there is causal relationship between a property of an object, a plan of robots, and a result of execution. We have verified an effect of proposed strategy by numerical computation.