Multi-Robot Local Motion Planning Using Dynamic Optimization Fabrics

Saray Bakker,Luzia Knoedler,Max Spahn,Wendelin Bohmer,Javier Alonso-Mora

2023 INTERNATIONAL SYMPOSIUM ON MULTI-ROBOT AND MULTI-AGENT SYSTEMS, MRS（2023）

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摘要

In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as Multi-Robot Dynamic Fabrics (MRDF). This geometric method enables a very high planning frequency for high-dimensional systems at the expense of being reactive and prone to deadlocks. To detect and resolve deadlocks, we propose Rollout Fabrics where MRDF are forward simulated in a decentralized manner. We validate the methods in simulated close-proximity pick-and-place scenarios with multiple manipulators, showing highsuccess rates and real-time performance. Code, video: https://github.com/tud-amr/multi-robot-fabrics

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关键词

Path Planning,Local Motion Planning,Close Proximity,Multiple Users,Multi-agent Systems,Deadlock,Degrees Of Freedom,Time Step,Dynamic Environment,Current Information,Model Predictive Control,Pullback,Configuration Space,End-effector,Prediction Horizon,Trajectory Generation,Differential Geometry,End-effector Position,Optimization-based Approach,Velocity Of The Robot,Dynamic Obstacles,Coworking Spaces,Robot Configuration,Rapidly-exploring Random Tree,Geometric Control,Coupling Approach,Computation Time,Performance Metrics,Difference Map

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