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arXiv · 2310.12816

Multi-Robot Local Motion Planning Using Dynamic Optimization Fabrics

Saray Bakker·Luzia Knoedler·Max Spahn·Wendelin Böhmer·Javier Alonso-Mora
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Abstract

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 high success rates and real-time performance.

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Saray Bakker, Luzia Knoedler, Max Spahn, Wendelin Böhmer, Javier Alonso-Mora. 2023-10-19. Multi-Robot Local Motion Planning Using Dynamic Optimization Fabrics. https://arxiv.org/abs/2310.12816

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