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Fast-dRRT*: Efficient Multi-Robot Motion Planning for Automated Industrial Manufacturing
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We present Fast-dRRT*, a sampling-based multi-robot planner, for real-time industrial automation scenarios. Fast-dRRT* builds upon the discrete rapidly-exploring random tree (dRRT*) planner, and extends dRRT* by using pre-computed swept volumes for efficient collision detection, deadlock avoidance for partial multi-robot problems, and a simplified rewiring strategy. We evaluate Fast-dRRT* on five challenging multi-robot scenarios using two to four industrial robot arms from various manufacturers. The scenarios comprise situations involving deadlocks, narrow passages, and close proximity tasks. The results are compared against dRRT*, and show Fast-dRRT* to outperform dRRT* by up to 94% in terms of finding solutions within given time limits, while only sacrificing up to 35% on initial solution cost. Furthermore, Fast-dRRT* demonstrates resilience against noise in target configurations, and is able to solve challenging welding, and pick and place tasks with reduced computational time. This makes Fast-dRRT* a promising option for real-time motion planning in industrial automation.
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Cited by 1 Pith paper
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Embodying Multi-Hand Manipulation Policies by Searching the Assignment and Null Spaces
A new planner, Ω-CBSA, jointly chooses which robot arm follows which hand trajectory and searches elbow/wrist null-space motions to guarantee collision-free multi-arm execution of learned manipulation policies.
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