Adaptive relocation of environment-attached storage devices by multiple robots

We propose a method of relocating storage devices attached to the environment for sharing knowledge efficiently among multiple robots. If a robot stores acquired knowledge into the storage device, other robots can achieve the task by using the knowledge. Since the memory size of the storage device is limited, usefulness of the knowledge is evaluated with respect to the reducible cost. A memory unit containing useless knowledge is removed from the storage device and added to the device where more useful knowledge is required. Then, the robots can store useful knowledge for the 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.