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A Method for Multi-Robot Asynchronous Trajectory Execution in MoveIt2
October 03, 2023 Β· Declared Dead Β· π IEEE International Conference on Robotics and Automation
"No code URL or promise found in abstract"
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Authors
Pascal Stoop, Tharaka Ratnayake, Giovanni Toffetti
arXiv ID
2310.08597
Category
cs.RO: Robotics
Citations
1
Venue
IEEE International Conference on Robotics and Automation
Last Checked
4 months ago
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.
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