Moving furniture

Returning to pure entertainment, the problem shown in Figure 1.5 involves moving a grand piano across a room using three mobile robots with manipulation arms mounted on them. The problem is humorously inspired by the phrase Piano Mover's Problem. Collisions between robots and with other pieces of furniture must be avoided. The problem is further complicated because the robots, piano, and floor form closed kinematic chains, which are covered in Sections 4.4 and 7.4.

Figure 1.5: Using mobile robots to move a piano [244].