Reconfiguration of a 2D Structure Using Spatio-Temporal Planning and Load Transferring [ICRA 2024] скачать в хорошем качестве

Reconfiguration of a 2D Structure Using Spatio-Temporal Planning and Load Transferring [ICRA 2024]

Building a structure out of smart robots is wasteful. Instead, use the robots to move and assemble dumb blocks. Problems arise when robot's paths intersect. In this video Javier Garcia explains his team's algorithms to enable efficient motion planning for robots as they rearrange voxel structures. [presentation video for https://2024.ieee-icra.org/] Paper title: "Reconfiguration of a 2D Structure Using Spatio-Temporal Planning and Load Transferring" by Javier Garcia, Michael Yannuzzi, Peter Kramer, Christian Rieck, Sándor P. Fekete, and Aaron T. Becker Full paper available at https://arxiv.org/abs/2211.09198 Abstract: We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of the structure. We develop two reconfiguration methods, one based on spatio-temporal planning, and one based on target swapping, to increase building efficiency. The first method can significantly reduce planning times compared to other multi-robot planners. The second method helps to reduce the amount of time robots spend waiting for paths to be cleared, and the overall distance traveled by the robots