Incorporating Motion Planning Feasibility Considerations during Task-Agent Assignment to Perform Complex Tasks Using Mobile Manipulators
| Autor: | Prahar M. Bhatt, Ariyan M. Kabir, Pradeep Rajendran, Brual C. Shah, Shantanu Thakar, Satyandra K. Gupta, Rishi K. Malhan |
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| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Robot kinematics Process (engineering) Computer science Distributed computing Constraint (computer-aided design) 02 engineering and technology Motion (physics) Task (project management) 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Task analysis Trajectory 020201 artificial intelligence & image processing Pruning (decision trees) Motion planning |
| Zdroj: | ICRA |
| Popis: | Multi-arm mobile manipulators can be represented as a combination of multiple robotic agents from the perspective of task-assignment and motion planning. Depending upon the task, agents might collaborate or work independently. Integrating motion planning with task-agent assignment is a computationally slow process as infeasible assignments can only be detected through expensive motion planning queries. We present three speed-up techniques for addressing this problem-(1) spatial constraint checking using conservative surrogates for motion planners, (2) instantiating symbolic conditions for pruning infeasible assignments, and (3) efficiently caching and reusing previously generated motion plans. We show that the developed method is useful for real-world operations that require complex interaction and coordination among high-DOF robotic agents. |
| Databáze: | OpenAIRE |
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