Proceedings ArticleDOI
Generation of Synchronized Configuration Space Trajectories of Multi-Robot Systems
Ariyan M. Kabir,Alec Kanyuck,Rishi K. Malhan,Aniruddha V. Shembekar,Shantanu Thakar,Brual C. Shah,Satyandra K. Gupta +6 more
- pp 8683-8690
TLDR
This work poses the problem of path-constrained trajectory generation for the synchronous motion of multi-robot systems as a non-linear optimization problem, and generates an approximate solution as a starting point for the optimization method and uses successive refinement techniques to solve the problem in a computationally efficient manner.Abstract:
We pose the problem of path-constrained trajectory generation for the synchronous motion of multi-robot systems as a non-linear optimization problem. Our method determines appropriate parametric representation for the configuration variables, generates an approximate solution as a starting point for the optimization method, and uses successive refinement techniques to solve the problem in a computationally efficient manner. We have demonstrated the effectiveness of the proposed method on challenging simulation and physical experiments with high degrees of freedom robotic systems.read more
Citations
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Proceedings ArticleDOI
Identifying Feasible Workpiece Placement with Respect to Redundant Manipulator for Complex Manufacturing Tasks
TL;DR: This paper formulates the problem of identifying a feasible placement as a non-linear optimization problem over the constraint violation functions and shows that this problem can be solved by successively searching for the solution by incrementally applying different constraints.
Journal ArticleDOI
Automated planning for robotic layup of composite prepreg
Rishi K. Malhan,Aniruddha V. Shembekar,Ariyan M. Kabir,Prahar M. Bhatt,Brual C. Shah,Scott Zanio,Steven Nutt,Satyandra K. Gupta +7 more
TL;DR: A multi-robot cell to automate the layup process for composite structures from several plies of carbon-fiber prepreg is developed and can generate plans in a computationally efficient manner, and it can handle a wide variety of complex parts.
Proceedings ArticleDOI
A Robotic Cell for Multi-Resolution Additive Manufacturing
Prahar M. Bhatt,Ariyan M. Kabir,Rishi K. Malhan,Brual C. Shah,Aniruddha V. Shembekar,Yeo Jung Yoon,Satyandra K. Gupta +6 more
TL;DR: This paper presents a robotic cell for multi-resolution AM that consists of two 6 degrees of freedom (DOF) robot manipulators capable of printing non-planar and/or planar layers and describes algorithms for decomposing parts into multi- resolution layers and generating collision-free trajectories for the robot manipulator.
Proceedings ArticleDOI
Accounting for Part Pose Estimation Uncertainties during Trajectory Generation for Part Pick-Up Using Mobile Manipulators
TL;DR: An active learning based approach is presented to construct a meta-model to estimate the probability of successful part pick-up for a given level of uncertainty in the part pose estimate to generate time-optimal trajectories.
Proceedings ArticleDOI
Incorporating Motion Planning Feasibility Considerations during Task-Agent Assignment to Perform Complex Tasks Using Mobile Manipulators
Ariyan M. Kabir,Shantanu Thakar,Prahar M. Bhatt,Rishi K. Malhan,Pradeep Rajendran,Brual C. Shah,Satyandra K. Gupta +6 more
TL;DR: This work presents three speed-up techniques for addressing spatial constraint checking using conservative surrogates for motion planners, instantiating symbolic conditions for pruning infeasible assignments, and efficiently caching and reusing previously generated motion plans.
References
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Book
Numerical Optimization
Jorge Nocedal,Stephen J. Wright +1 more
TL;DR: Numerical Optimization presents a comprehensive and up-to-date description of the most effective methods in continuous optimization, responding to the growing interest in optimization in engineering, science, and business by focusing on the methods that are best suited to practical problems.
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A practical guide to splines
TL;DR: This book presents those parts of the theory which are especially useful in calculations and stresses the representation of splines as linear combinations of B-splines as well as specific approximation methods, interpolation, smoothing and least-squares approximation, the solution of an ordinary differential equation by collocation, curve fitting, and surface fitting.
Proceedings ArticleDOI
RRT-connect: An efficient approach to single-query path planning
TL;DR: A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces by incrementally building two rapidly-exploring random trees rooted at the start and the goal configurations.
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Robotics: Modelling, Planning and Control
TL;DR: Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control, suitable for use in senior undergraduate and graduate courses in automation and computer, electrical, electronic and mechanical engineering courses with strong robotics content.
Journal ArticleDOI
Time-Optimal Control of Robotic Manipulators Along Specified Paths:
TL;DR: In this paper, the minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known, and the optimal open-loop torques are found, and a method is given for implementing these torques with a conventional linear feedback control system.