Multi-Robot Pick-and-Place Motion Planning for Shared Workspaces
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Solution Overview
Problem
In scenarios where multiple robots share a common workspace, existing methods require one robot to lock the workspace, rendering others inactive to avoid collisions, thereby reducing throughput and efficiency.
Innovation Solution
A centralized motion orchestrator synchronizes the operation of multiple robots, computing collision-free trajectories that consider the swept volumes and progress of other robots, allowing simultaneous and synchronous operation without collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single robot locks the entire workspace to avoid collisions, then collision safety is ensured, but robot utilization decreases and throughput is reduced
Solution Approach 1:
The workspace is segmented into multiple zones, each robot is assigned specific zones to operate in, and robots can enter other zones only when safe. This segmentation allows multiple robots to work simultaneously in different areas while maintaining collision safety through coordinated zone management.
Solution Approach 2:
The system implements dynamic workspace allocation where robots can dynamically enter and exit assigned zones based on real-time conditions. The motion orchestrator continuously adjusts robot paths and timing to maximize utilization while preventing collisions, allowing robots to be active in overlapping workspaces without locking mechanisms.
2Productivity
If robots operate simultaneously in overlapping workspaces, then throughput increases, but collision risk increases
Solution Approach 1:
The motion orchestrator implements continuous feedback by monitoring the real-time positions and states of all robots. Based on this feedback, the system dynamically adjusts motion plans, timing, and paths to ensure simultaneous operation remains collision-free, enabling high throughput while maintaining safety.
Solution Approach 2:
The motion orchestrator acts as an intermediary that coordinates all robot operations. It receives motion requests from multiple robots, computes collision-free trajectories considering all robots' swept volumes and progress, and issues synchronized commands to ensure simultaneous operation without collisions.
3Reliability
If robots wait for their turn to lock the workspace, then collision safety is maintained, but idle time increases and efficiency decreases
Solution Approach 1:
The system performs preliminary action by pre-planning synchronized motion trajectories for multiple robots before execution. The motion orchestrator computes complete collision-free paths considering all robots' movements in advance, allowing robots to execute their tasks simultaneously without waiting or idle time while maintaining safety.
Solution Approach 2:
The system enables continuous useful action by coordinating multiple robots to operate simultaneously in their assigned zones without interruption. Robots maintain continuous motion and task execution by dynamically adjusting their paths and timing through the motion orchestrator, eliminating idle waiting periods while ensuring collision-free operation.
Data Source
AI summary
A robotic system receives from a first agent included in a plurality of robotically controlled agents a request to be provided a motion plan to perform a first pick and place task assigned to the first agent. A first motion plan is determined for the first agent, including by taking into consideration a second motion plan associated with a second agent included in the plurality of robotically controlled agents to perform a second pick and place task assigned to the second agent, at least in part by considering a swept volume associated with at least a remaining uncompleted portion of the second motion plan as an obstacle with which the first agent will not collide while implementing the first motion plan.