Realization of rearrangement task by multiple robots

We propose a method for performing rearrangement tasks in a real environment using multiple mobile robots. In our proposed method, robots develop an offline plan, convert the plan into a sequence of behaviors and carry out these behaviors. To perform the rearrangement task, robots need to carry out at least five behaviors. We show experimental results of rearrangement tasks in a real environment which includes a static obstacle and a narrow space.