MR.CAP: Multi-Robot Joint Control and Planning for Object Transport
Abstrak
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control algorithms and multi-robot path planners, there is in turn an increased demand for fast, efficient, and robust controllers. We propose a scalable joint path planning and control algorithm for multi-robot systems with constrained behaviours based on factor graph optimization. We demonstrate our algorithm on a series of hardware and simulated experiments. Our algorithm is consistently able to recover from disturbances and avoid obstacles while outperforming state-of-the-art methods in optimization time, path deviation, and inter-robot errors. See the code and supplementary video for experiments.
Topik & Kata Kunci
Penulis (3)
Hussein Ali Jaafar
Cheng-Hao Kao
Sajad Saeedi
Akses Cepat
- Tahun Terbit
- 2024
- Bahasa
- en
- Sumber Database
- arXiv
- Akses
- Open Access ✓