Task-Space Decomposed Motion Planning Framework for Multi-Robot Loco-Manipulation

Xiaoyu Zhang, Lei Yan, Tin Lun Lam, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

This paper introduces a novel task-space decomposed motion planning framework for multi-robot simultaneous locomotion and manipulation. When several manipulators hold an object, closed-chain kinematic constraints are formed, and it will make the motion planning problems challenging by inducing lower-dimensional singularities. Unfortunately, the constrained manifold will be even more complicated when the manipulators are equipped with mobile bases. We address the problem by introducing a dual-resolution motion planning framework which utilizes a convex task region decomposition method, with each resolution tuned to efficient computation for their respective roles. Concretely, this dual-resolution approach enables a global planner to explore the low-dimensional decomposed task-space regions toward the goal, then a local planner computes a path in high-dimensional constrained configuration space. We demonstrate the proposed method in several simulations, where the robot team transports the object toward the goal in the obstacle-rich environments.
Original languageEnglish
Title of host publication2021 IEEE International Conference on Robotics and Automation (ICRA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages7
ISBN (Electronic)978-1-7281-9078-5
ISBN (Print)978-1-7281-9077-8
Publication statusPublished - 18 Oct 2021
Event2021 IEEE International Conference on Robotics and Automation - Xi'an, China
Duration: 30 May 20215 Jun 2021

Publication series

ISSN (Print)1050-4729
ISSN (Electronic)2577-087X


Conference2021 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2021
Internet address


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