A Method for Multi-Robot Asynchronous Trajectory Execution in MoveIt2

Pascal Stoop; Tharaka Ratnayake; Giovanni Toffetti

A Method for Multi-Robot Asynchronous Trajectory Execution in MoveIt2

Robotics 2023-10-16 v1

Authors: Pascal Stoop , Tharaka Ratnayake , Giovanni Toffetti

Abstract

This work presents an extension to the MoveIt2 planning library supporting asynchronous execution for multi-robot / multi-arm robotic setups. The proposed method introduces a unified way for the execution of both synchronous and asynchronous trajectories by implementing a simple scheduler and guarantees collision-free operation by continuous collision checking while the robots are moving.

Cite

@article{arxiv.2310.08597,
  title  = {A Method for Multi-Robot Asynchronous Trajectory Execution in MoveIt2},
  author = {Pascal Stoop and Tharaka Ratnayake and Giovanni Toffetti},
  journal= {arXiv preprint arXiv:2310.08597},
  year   = {2023}
}

Comments

Accepted to the "IROS 2023 Workshop on Task and Motion Planning: from Theory to Practice" -- https://dyalab.mines.edu/2023/iros-workshop/

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