论文标题
由模式图指导的同步多臂重排具有容量限制
Synchronized Multi-Arm Rearrangement Guided by Mode Graphs with Capacity Constraints
论文作者
论文摘要
解决涉及多个对象和多个机器人臂的任务计划问题会带来可伸缩性的挑战。此类问题不仅涉及协调多个高DOF臂，还涉及通过可能的操作序列进行搜索，包括对象放置和交接。当前的工作确定了具有顶点容量限制的图表上的多体路径计划中的多臂重排和最新结果之间的有用联系。在高级别上求解同步的多臂重排涉及在模态图上进行推理，在该图上，节点对应于稳定的对象放置和对象传递的态度。该图的边缘对应于选择，放置和交接操作。可以将对象视为鹅卵石在该图上移动，该图具有容量约束。例如，每个手臂都可以携带一个对象，但是放置位置可以累积许多对象。已经为相应的卵石问题提出了基于有效的整数线性编程求解器。当前的工作提出了一种启发式，以指导同步多臂重排的任务计划过程。结果表明对多个臂和对象的可扩展性良好，以及可以快速找到高质量解决方案并随时表现出理想的行为的算法。
Solving task planning problems involving multiple objects and multiple robotic arms poses scalability challenges. Such problems involve not only coordinating multiple high-DoF arms, but also searching through possible sequences of actions including object placements, and handoffs. The current work identifies a useful connection between multi-arm rearrangement and recent results in multi-body path planning on graphs with vertex capacity constraints. Solving a synchronized multi-arm rearrangement at a high-level involves reasoning over a modal graph, where nodes correspond to stable object placements and object transfer states by the arms. Edges of this graph correspond to pick, placement and handoff operations. The objects can be viewed as pebbles moving over this graph, which has capacity constraints. For instance, each arm can carry a single object but placement locations can accumulate many objects. Efficient integer linear programming-based solvers have been proposed for the corresponding pebble problem. The current work proposes a heuristic to guide the task planning process for synchronized multi-arm rearrangement. Results indicate good scalability to multiple arms and objects, and an algorithm that can find high-quality solutions fast and exhibiting desirable anytime behavior.
