Work

A Method for Multi-Robot Asynchronous Trajectory Execution in MoveIt2

Year: 2023

Type: preprint

Abstract: This work presents an extension to the MoveIt2 planning library supporting asynchronous execution for multi-robot / multi-arm robotic setups. The proposed method introduces a unified way for the execution of both synchronous and asynchronous trajectories by implementing a simple scheduler and guarantees collision-free operation by continuous collision checking while the robots are moving.

Source: arXiv (Cornell University)

DOI: 10.48550/arxiv.2310.08597

Authors: Stoop, Pascal, Ratnayake, Tharaka, Toffetti, Giovanni

Institutions: OST - Ostschweizer Fachhochschule, ZHAW Zurich University of Applied Sciences

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4387686932

Cites: 16

Cited by:

Related to: 10