Mar 4, 2022 · Abstract: Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner that ensures each robot is simultaneously productive, and not idle, is challenging due to (1 ...

Mar 14, 2025 · Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging 3D convex shape-based High-Order Control Barrier Functions (HOCBFs) to address this issue.

Apr 12, 2018 · The use of multi-arm robotic systems allows for highly complex manipulation of heavy or bulky objects that would otherwise be infeasible for a single-arm robot. One can envision a plethora of applications in smart-factories or homes that would benefit from such extended workspace and capabilities.

Jun 27, 2023 · This study presented a comprehensive investigation into the trajectory-planning problem of a six-axis robotic arm, utilizing deep reinforcement learning to develop a multi-objective optimization approach.

Mar 1, 2025 · TPS is utilized to determine collision-free paths for each robotic arm, performing multiple simulations to pinpoint initial and final grasp locations free of interference and to devise varied, non-repetitive tasks for each robot based on …

Jan 1, 2020 · Robotic manipulation aims at combining the versatility and flexibility of mobile robot platforms with manipulation capabilities of robot manipulators. This survey paper comprehensively reviews the state-of-the-art development of collaborative robotic manipulation from the perspective of modelling, control and optimization.

In this paper, we present a task and motion planning framework that jointly plans safe, low-makespan plans for a team of robots to assemble complex spatial structures.

In this article, we introduce a novel framework for real-time multiarm coordination, offering two main contributions: First, based on fuzzy model-based movement primitives, we propose a method for real-time trajectory modulation by learning from single demonstrations.

Aug 29, 2024 · Inflatable multistable materials have significantly advanced the design of shape-preserving soft robotic arms, offering substantial benefits in terms of shape adaptability, energy efficiency, and safety, ensuring operational reliability even in the event of sudden power loss.

Oct 1, 2012 · In this paper a task-oriented motion planning approach for general cooperative multi-robot systems is proposed. In order to derive a meaningful task formulation, a taxonomy of cooperative multi-arm systems of industrial interest is devised.