Scalable Collaborative Manipulation with Distributed Trajectory Planning
Ola Shorinwa,Mac Schwager,Ola Shorinwa,Mac Schwager
We present a distributed algorithm to enable a group of robots to collaboratively manipulate an object to a desired configuration while avoiding obstacles. Each robot solves a local optimization problem iteratively and communicates with its local neighbors, ultimately converging to the optimal trajectory of the object over a receding horizon. The algorithm scales efficiently to large groups, with ...
