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Real-time Planning Robotic Palletizing Tasks using Reusable Roadmaps

When a robot loads a lot of cargo boxes onto a pallet, a robot performs the pick-and-place for a number of times with slightly changing the initial and target configurations of the robot (Figure 2). Let us consider planning the motion of a robot performing the palletizing task by using a conventional sampling based motion planning method such as the Probabilistic Roadmap Method (PRM) and Rapidlyexploring Random Tree (RRT). Although the configurations of the robot and the environment around it are similar for each pick-andplace, a motion planner usually constructs a number of roadmaps and the constructed roadmaps are not used in the next pick-andplace. This results in unnecessarily increasing the calculation time needed for motion planning. Moreover, the calculation time of the random-sampling based motion planners such as PRM and RRT changes depending on each pick-and-place. It means that the calculation time may sometimes become extremely large if the roadmaps are placed at the wrong places in the initial planning phase.