Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly

Robotic construction assembly planning aims to find feasible assembly sequences as well as the corresponding robot-paths and can be seen as a special case of task and motion planning (TAMP). As construction assembly can well be parallelized, it is desirable to plan for multiple robots acting concurr...

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Vydané v:	IEEE transactions on robotics Ročník 39; číslo 1; s. 239 - 252
Hlavní autori:	Hartmann, Valentin N., Orthey, Andreas, Driess, Danny, Oguz, Ozgur S., Toussaint, Marc
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	New York IEEE 01.02.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	Assembly Bidirectional control Construction planning Feasibility Manipulation planning Motion planning multi-robot systems Multiple robots Optimization Planning Robot arms Robot kinematics robotics and automation in construction Robots Service robots Task analysis task planning Trajectory
ISSN:	1552-3098, 1941-0468
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Abstract	Robotic construction assembly planning aims to find feasible assembly sequences as well as the corresponding robot-paths and can be seen as a special case of task and motion planning (TAMP). As construction assembly can well be parallelized, it is desirable to plan for multiple robots acting concurrently. Solving TAMP instances with many robots and over a long time-horizon is challenging due to coordination constraints, and the difficulty of choosing the right task assignment. We present a planning system which enables parallelization of complex task and motion planning problems by iteratively solving smaller subproblems. Combining optimization methods to jointly solve for manipulation constraints with a sampling-based bi-directional space-time path planner enables us to plan cooperative multi-robot manipulation with unknown arrival-times. Thus, our solver allows for completing subproblems and tasks with differing timescales and synchronizes them effectively. We demonstrate the approach on multiple construction case-studies to show the robustness over long planning horizons and scalability to many objects and agents. Finally, we also demonstrate the execution of the computed plans on two robot arms to showcase the feasibility in the real world.
AbstractList	Robotic construction assembly planning aims to find feasible assembly sequences as well as the corresponding robot-paths and can be seen as a special case of task and motion planning (TAMP). As construction assembly can well be parallelized, it is desirable to plan for multiple robots acting concurrently. Solving TAMP instances with many robots and over a long time-horizon is challenging due to coordination constraints, and the difficulty of choosing the right task assignment. We present a planning system which enables parallelization of complex task and motion planning problems by iteratively solving smaller subproblems. Combining optimization methods to jointly solve for manipulation constraints with a sampling-based bi-directional space-time path planner enables us to plan cooperative multi-robot manipulation with unknown arrival-times. Thus, our solver allows for completing subproblems and tasks with differing timescales and synchronizes them effectively. We demonstrate the approach on multiple construction case-studies to show the robustness over long planning horizons and scalability to many objects and agents. Finally, we also demonstrate the execution of the computed plans on two robot arms to showcase the feasibility in the real world.
Author	Driess, Danny Hartmann, Valentin N. Oguz, Ozgur S. Toussaint, Marc Orthey, Andreas
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SubjectTerms	Assembly Bidirectional control Construction planning Feasibility Manipulation planning Motion planning multi-robot systems Multiple robots Optimization Planning Robot arms Robot kinematics robotics and automation in construction Robots Service robots Task analysis task planning Trajectory
Title	Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly
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