Salvato in:
| Autori principali: | , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2024
|
| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2410.21630 |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866909862738264064 |
|---|---|
| author | Agrawal, Akshaya Mayer, Parker Kingston, Zachary Hollinger, Geoffrey A. |
| author_facet | Agrawal, Akshaya Mayer, Parker Kingston, Zachary Hollinger, Geoffrey A. |
| contents | Cooperative manipulation tasks impose various structure-, task-, and robot-specific constraints on mobile manipulators. However, current methods struggle to model and solve these myriad constraints simultaneously. We propose a twofold solution: first, we model constraints as a family of manifolds amenable to simultaneous solving. Second, we introduce the constrained nonlinear Kaczmarz (cNKZ) projection technique to produce constraint-satisfying solutions. Experiments show that cNKZ dramatically outperforms baseline approaches, which cannot find solutions at all. We integrate cNKZ with a sampling-based motion planning algorithm to generate complex, coordinated motions for 3 to 6 mobile manipulators (18--36 DoF), with cNKZ solving up to 80 nonlinear constraints simultaneously and achieving up to a 92% success rate in cluttered environments. We also demonstrate our approach on hardware using three Turtlebot3 Waffle Pi robots with OpenMANIPULATOR-X arms. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_21630 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation Agrawal, Akshaya Mayer, Parker Kingston, Zachary Hollinger, Geoffrey A. Robotics Cooperative manipulation tasks impose various structure-, task-, and robot-specific constraints on mobile manipulators. However, current methods struggle to model and solve these myriad constraints simultaneously. We propose a twofold solution: first, we model constraints as a family of manifolds amenable to simultaneous solving. Second, we introduce the constrained nonlinear Kaczmarz (cNKZ) projection technique to produce constraint-satisfying solutions. Experiments show that cNKZ dramatically outperforms baseline approaches, which cannot find solutions at all. We integrate cNKZ with a sampling-based motion planning algorithm to generate complex, coordinated motions for 3 to 6 mobile manipulators (18--36 DoF), with cNKZ solving up to 80 nonlinear constraints simultaneously and achieving up to a 92% success rate in cluttered environments. We also demonstrate our approach on hardware using three Turtlebot3 Waffle Pi robots with OpenMANIPULATOR-X arms. |
| title | Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.21630 |