| Autor: |
Englert, Peter, Fernández, Isabel M. Rayas, Ramachandran, Ragesh K., Sukhatme, Gaurav S. |
| Rok vydání: |
2020 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| DOI: |
10.15607/RSS.2021.XVII.039 |
| Popis: |
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to traverse in order to solve the task. We specify a class of sequential motion planning problems that fulfill a particular property of the change in the free configuration space when transitioning between manifolds. For this problem class, we develop the algorithm Planning on Sequenced Manifolds (PSM*) which searches for optimal intersection points between manifolds by using RRT* in an inner loop with a novel steering strategy. We provide a theoretical analysis regarding PSM*s probabilistic completeness and asymptotic optimality. Further, we evaluate its planning performance on multi-robot object transportation tasks. Video: https://youtu.be/Q8kbILTRxfU Code: https://github.com/etpr/sequential-manifold-planning |
| Databáze: |
arXiv |
| Externí odkaz: |
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