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- W4286822974 abstract "In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator robots. Initially, collision-free configurations of a deformable 2-D virtual bounding box are identified, over a planning horizon, to define a convex workspace for the entire system. Then, 3-D payload configurations whose projections lie within the defined convex workspace are computed. Finally, a convex decentralized model-predictive controller is formulated to plan collision-free trajectories for the formation of mobile manipulators. This approach facilitates real-time motion planning for the system and is scalable in the number of robots. The algorithm is validated in simulated dynamic environments. Simulation video: https://youtu.be/9EKj7RwRs_4." @default.
- W4286822974 created "2022-07-24" @default.
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- W4286822974 date "2019-03-18" @default.
- W4286822974 modified "2023-09-26" @default.
- W4286822974 title "Motion Planning for Multi-Mobile-Manipulator Payload Transport Systems" @default.
- W4286822974 doi "https://doi.org/10.48550/arxiv.1903.07758" @default.
- W4286822974 hasPublicationYear "2019" @default.
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