Paper Info
Title
Incorporating Motion Planning Feasibility Considerations during Task-Agent Assignment to Perform Complex Tasks Using Mobile Manipulators.
Abstract
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.
Year
DOI
Venue
2020
10.1109/ICRA40945.2020.9196667
ICRA
DocType
Volume
Issue
Conference
2020
1
Citations 
PageRank 
References 
0
0.34
12
Authors
7
Name
Order
Citations
PageRank
Ariyan M. Kabir1186.94
Shantanu Thakar222.91
Prahar M. Bhatt332.50
Rishi K. Malhan422.79
Pradeep Rajendran501.69
Brual C. Shah6154.85
Satyandra K Gupta768777.11