pc-dbCBS: Kinodynamic Motion Planning of Physically-Coupled Robot Teams
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866909611226824704 |
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| author | Wahba, Khaled Hönig, Wolfgang |
| author_facet | Wahba, Khaled Hönig, Wolfgang |
| contents | Motion planning problems for physically-coupled multi-robot systems in cluttered environments are challenging due to their high dimensionality. Existing methods combining sampling-based planners with trajectory optimization produce suboptimal results and lack theoretical guarantees. We propose Physically-coupled discontinuity-bounded Conflict-Based Search (pc-dbCBS), an anytime kinodynamic motion planner, that extends discontinuity-bounded CBS to rigidly-coupled systems. Our approach proposes a tri-level conflict detection and resolution framework that includes the physical coupling between the robots. Moreover, pc-dbCBS alternates iteratively between state space representations, thereby preserving probabilistic completeness and asymptotic optimality while relying only on single-robot motion primitives. Across 25 simulated and six real-world problems involving multirotors carrying a cable-suspended payload and differential-drive robots linked by rigid rods, pc-dbCBS solves up to 92% more instances than a state-of-the-art baseline and plans trajectories that are 50-60% faster while reducing planning time by an order of magnitude. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_10355 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | pc-dbCBS: Kinodynamic Motion Planning of Physically-Coupled Robot Teams Wahba, Khaled Hönig, Wolfgang Robotics Multiagent Systems Systems and Control Motion planning problems for physically-coupled multi-robot systems in cluttered environments are challenging due to their high dimensionality. Existing methods combining sampling-based planners with trajectory optimization produce suboptimal results and lack theoretical guarantees. We propose Physically-coupled discontinuity-bounded Conflict-Based Search (pc-dbCBS), an anytime kinodynamic motion planner, that extends discontinuity-bounded CBS to rigidly-coupled systems. Our approach proposes a tri-level conflict detection and resolution framework that includes the physical coupling between the robots. Moreover, pc-dbCBS alternates iteratively between state space representations, thereby preserving probabilistic completeness and asymptotic optimality while relying only on single-robot motion primitives. Across 25 simulated and six real-world problems involving multirotors carrying a cable-suspended payload and differential-drive robots linked by rigid rods, pc-dbCBS solves up to 92% more instances than a state-of-the-art baseline and plans trajectories that are 50-60% faster while reducing planning time by an order of magnitude. |
| title | pc-dbCBS: Kinodynamic Motion Planning of Physically-Coupled Robot Teams |
| topic | Robotics Multiagent Systems Systems and Control |
| url | https://arxiv.org/abs/2505.10355 |