Pushing boxes with a mobile robot in Sokoban-like scenarios

This work presents a system to implement the solution of a box-pushing problem inspired in the well-known Sokoban game using a mobile robot. We present in this paper the strategy to determine a sequence of actions that have to be performed by the mobile robot to accommodate a number of boxes in a scenario only by pushing them. We link this solution to actual motion primitives of the mobile robot by decomposing the action sequence. We discuss how the solution is searched and several issues that arise during the search procedure.