Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
复制标题
多臂装配系统的协作任务和运动规划
DOI：
10.48550/arxiv.2203.02475
复制
发表时间：
2022
期刊：
影响因子：
--
通讯作者：
B. Williams
中科院分区：
文献类型：
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作者：
Jingkai Chen;Jiaoyang Li;Yijiang Huang;Caelan Reed Garrett;Dawei Sun;Chuchu Fan;Andreas G. Hofmann;C. Mueller;Sven Koenig;B. Williams
由于它们能够自动，灵活和快速构建所需的结构设计，因此多机器人装配系统在制造方面变得越来越吸引人。但是，由于（1）机器人必须运行以操纵结构和（2）固有的结构部分部分，因此有效地为这些系统有效地计划这些系统具有挑战性而不是空闲的方式，这是具有挑战性的订购每个部分何时可以安装。在本文中，我们介绍了一个任务和运动计划框架，该框架共同计划安全，低木马计划，以组装一组机器人来组装复杂的空间结构。我们的框架采用了层次结构方法，在高级别上，使用混合成员线性程序来计算一个摘要计划，该计划由机器人分配给受优先限制的任务的分配，而在低级别上，它建立在一个状态多代理路径发现的ART算法，以计划实现此抽象计划的无碰撞机器人运动。对我们的方法至关重要的是在高级计划中包括某些碰撞限制和运动持续时间，这更好地为搜索抽象计划的搜索提供了可能是可行的，既可能是可行的，又可以使搜索搜索可行。我们在几个具有挑战性的装配域上展示了我们的计划系统，其中有几个（有时是异质）机器人，带有抓地力或吸力板，用于组装结构，最多23个涉及乐高积木，酒吧，板，板或不规则形状的物体。
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner that ensures each robot is simultaneously productive, and not idle, is challenging due to (1) the close proximity that the robots must operate in to manipulate the structure and (2) the inherent structural partial orderings on when each part can be installed. In this paper, we present a task and motion planning framework that jointly plans safe, low-makespan plans for a team of robots to assemble complex spatial structures. Our framework takes a hierarchical approach that, at the high level, uses Mixed-integer Linear Programs to compute an abstract plan comprised of an allocation of robots to tasks subject to precedence constraints and, at the low level, builds on a state-of-the-art algorithm for Multi-Agent Path Finding to plan collision-free robot motions that realize this abstract plan. Critical to our approach is the inclusion of certain collision constraints and movement durations during high-level planning, which better informs the search for abstract plans that are likely to be both feasible and low-makespan while keeping the search tractable. We demonstrate our planning system on several challenging assembly domains with several (sometimes heterogeneous) robots with grippers or suction plates for assembling structures with up to 23 objects involving Lego bricks, bars, plates, or irregularly shaped blocks.
DOI：
10.1146/annurev-control-091420-084139
发表时间：
2021-01-01
期刊：
ANNUAL REVIEW OF CONTROL, ROBOTICS, AND AUTONOMOUS SYSTEMS, VOL 4, 2021
影响因子：
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作者：
Garrett, Caelan Reed;Chitnis, Rohan;Lozano-Perez, Tomas
通讯作者：
Lozano-Perez, Tomas
优先级约束目标序列的多智能体路径查找
DOI：
--
发表时间：
2022
期刊：
International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS
影响因子：
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作者：
Zhang, H.;Chen, J.;Li, J.;Williams, B.;Koenig, S.
通讯作者：
Koenig, S.