Collaborative motion planning for multi-manipulator systems through Reinforcement Learning and Dynamic Movement Primitives
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866916936448737280 |
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| author | Singh, Siddharth Xu, Tian Chang, Qing |
| author_facet | Singh, Siddharth Xu, Tian Chang, Qing |
| contents | Robotic tasks often require multiple manipulators to enhance task efficiency and speed, but this increases complexity in terms of collaboration, collision avoidance, and the expanded state-action space. To address these challenges, we propose a multi-level approach combining Reinforcement Learning (RL) and Dynamic Movement Primitives (DMP) to generate adaptive, real-time trajectories for new tasks in dynamic environments using a demonstration library. This method ensures collision-free trajectory generation and efficient collaborative motion planning. We validate the approach through experiments in the PyBullet simulation environment with UR5e robotic manipulators. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_00757 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Collaborative motion planning for multi-manipulator systems through Reinforcement Learning and Dynamic Movement Primitives Singh, Siddharth Xu, Tian Chang, Qing Robotics Robotic tasks often require multiple manipulators to enhance task efficiency and speed, but this increases complexity in terms of collaboration, collision avoidance, and the expanded state-action space. To address these challenges, we propose a multi-level approach combining Reinforcement Learning (RL) and Dynamic Movement Primitives (DMP) to generate adaptive, real-time trajectories for new tasks in dynamic environments using a demonstration library. This method ensures collision-free trajectory generation and efficient collaborative motion planning. We validate the approach through experiments in the PyBullet simulation environment with UR5e robotic manipulators. |
| title | Collaborative motion planning for multi-manipulator systems through Reinforcement Learning and Dynamic Movement Primitives |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.00757 |