Problem
Research questions and friction points this paper is trying to address.
multi-robot systems
collision-avoidance constraints
high-dimensional configuration spaces
vibration-induced uncertainty
CAST: Collision-Aware Assembly with Construction Robots using Simultaneous Trajectory Estimation and Planning
🤖 AI Summary
该研究通过同时轨迹估计和规划解决多机器人系统在复杂施工环境中的碰撞避免问题，实现同步高维度机器人运动规划。
📝 Abstract
Multi-robot systems have shown increasing viability in construction due to their ability to execute high-precision actions while reducing human exposure to hazardous tasks. However, these environments have high-dimensional configuration spaces and possess substantial collision-avoidance constraints, which include other robots, assembly objects, and workspace boundaries. We utilize a single factor graph for trajectory estimation and planning that incorporates measured robot states together with explicit collision and learned cable constraints. This supports changing workspaces and enables synchronized, high-dimensional robot motion planning while accounting for the stiff, vibration-induced uncertainty of heavy robotic systems. We demonstrate the success of our framework on the construction of a post-and-lintel structure using one robot arm as a timber gripper, and a second robot as a nail-fastener.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Collision-Aware Assembly
Simultaneous Trajectory Estimation and Planning
Factor Graph
High-Dimensional Motion Planning
Construction Robots
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