多机械臂协同运动规划中，用搜索法插入停顿避免碰撞，提升成功率。
Stop-N-Go: Search-based Conflict Resolution for Motion Planning of Multiple Robotic Manipulators
- 通过A*搜索在独立规划轨迹中插入停顿，解决多机械臂冲突
- 在密集环境中成功解决基线方法无法处理的阻塞问题
- 适合需要高可靠性协同作业的工业场景
针对多个机械臂在紧凑环境中的运动规划问题，当共享工作区导致目标位置被其他机械臂占据或阻挡时，若不移动则无法到达。耦合配置空间（C-space）规划虽直接但难以扩展且常失败；解耦规划虽快却易产生轨迹冲突。本文提出一种基于A*搜索的冲突消解方法，在独立规划的轨迹中插入暂停，以最小化完工时间（makespan）。该策略允许部分机械臂暂停，使其他机械臂可无碰撞移动，同时保持配置空间中路径距离较短。实验表明，本方法能有效解决基线方法无法求解的复杂实例。
原文摘要 · Abstract (English)
We address the motion planning problem for multiple robotic manipulators in packed environments where shared workspace can result in goal positions occupied or blocked by other robots unless those other robots move away to make the goal positions free. While planning in a coupled configuration space (C-space) is straightforward, it struggles to scale with the number of robots and often fails to find solutions. Decoupled planning is faster but frequently leads to conflicts between trajectories. We propose a conflict resolution approach that inserts pauses into individually planned trajectories using an A* search strategy to minimize the makespan--the total time until all robots complete their tasks. This method allows some robots to stop, enabling others to move without collisions, and maintains short distances in the C-space. It also effectively handles cases where goal positions are initially blocked by other robots. Experimental results show that our method successfully solves challenging instances where baseline methods fail to find feasible solutions.
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