Figure 28: Experiment of real robots based on the proposed method. (1) Initial state. The robot decided the carrying object based on the list of carrying time. (2) Trying to move each object. (3) Roomba fails to carry the box and try to do again. (4) NAO finishes carrying the stand and begins to carry the ball. (5) Roomba finishes carrying the box. The method then determines which robot carries the ball, and NAO continues carrying the ball. (6) Roomba finished tidying, and NAO continues carrying the ball.