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. Code, video: https://github.com/tud-amr/multi-robot-fabrics
| Original language | English |
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| Title of host publication | Proceedings of the International Symposium on Multi-Robot and Multi-Agent Systems (MRS) |
| Publisher | IEEE |
| Pages | 149-155 |
| Number of pages | 7 |
| ISBN (Print) | 979-8-3503-7076-8 |
| DOIs | |
| Publication status | Published - 2024 |
| Event | International Symposium on Multi-Robot and Multi-Agent Systems (MRS) - Boston, United States Duration: 4 Dec 2023 → 5 Dec 2023 |
Publication series
| Name | 2023 International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2023 |
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Conference
| Conference | International Symposium on Multi-Robot and Multi-Agent Systems (MRS) |
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| Country/Territory | United States |
| City | Boston |
| Period | 4/12/23 → 5/12/23 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.