RI: Robot Planning and Coordination under Physical Constraints

自成立以来，机器人领域一直在努力建立多功能和可靠的系统，这些系统展示了在不确定和非结构化环境中规划、适应和生存的能力，以及执行合作任务的能力。提出的项目的智力价值在于定义和发展一种综合方法，用于在模拟中研究上述问题，但在现实的物理限制下。在上述背景下，本提案将通过追求基于采样的规划器与物理模拟器的结合，开发算法来规划复杂约束下的机器人机构。该提案还将研究不确定，非结构化和动态环境中的运动生成和机器人协调，并开发框架以确保所涉及机器人的安全性以及遵守物理约束。我们打算解决的问题是相互关联的；然而，它们可以被分开对待。综合考虑，它们构成了一个增强现代机器人系统能力的框架，而不局限于解决一个孤立的问题或一个特定的系统。该项目的更广泛影响将通过为流行的抽样规划者开发和分发软件以及若干培训和指导活动来实现。

Since its inception, the field of Robotics has striven to build versatile and reliable systems that demonstrate the capability to plan, adapt and survive in uncertain and unstructured environments as well as perform cooperative tasks. The intellectual merit of the proposed project lies in the definition and development of an integrated methodology for the study of the above problems in simulation, but under realistic physical constraints. In the above context, this proposal will develop algorithms to plan for robotic mechanisms under complex constraints by pursuing the combination of sampling-based planners with physical simulators. The proposal will also study motion generation and robot coordination in uncertain, unstructured and dynamic environments and develop frameworks to ensure the safety of the involved robots as well as compliance with physical constraints. The problems we propose to work on are interrelated; yet they can be treated separately. Considered together, they constitute a framework for augmenting the capabilities of modern robotics systems and are not constrained to address one problem in isolation or one particular system. The broader impact of the project will be implemented through the development and distribution of software for popular sampling-based planners, and a number of training and mentoring activities.