用投影法同时解决多机器人操作的复杂约束，成功率超90%。
Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation
- 将约束建模为流形，用非线性投影法统一求解。
- 可同时处理80个非线性约束，复杂场景成功率达92%。
- 适用于3到6台移动机械臂协同，已实测验证于真实硬件。
协作操作任务对移动机械臂施加多种结构、任务和机器人特定的约束。然而，现有方法难以同时建模与求解这些复杂约束。本文提出双重解决方案：首先，将约束建模为一组可同时求解的流形；其次，引入受限非线性Kaczmarz（cNKZ）投影技术，生成满足约束的解。实验表明，cNKZ显著优于基线方法，后者完全无法找到可行解。我们将cNKZ与基于采样的运动规划算法结合，为3至6台移动机械臂（18–36自由度）生成复杂协调动作，cNKZ可同时处理最多80个非线性约束，在杂乱环境中实现高达92%的成功率。我们还在硬件上验证了该方法，使用三台Turtlebot3 Waffle Pi机器人搭载OpenMANIPULATOR-X机械臂。
原文摘要 · Abstract (English)
Cooperative manipulation tasks impose various structure-, task-, and robot-specific constraints on mobile manipulators. However, current methods struggle to model and solve these myriad constraints simultaneously. We propose a twofold solution: first, we model constraints as a family of manifolds amenable to simultaneous solving. Second, we introduce the constrained nonlinear Kaczmarz (cNKZ) projection technique to produce constraint-satisfying solutions. Experiments show that cNKZ dramatically outperforms baseline approaches, which cannot find solutions at all. We integrate cNKZ with a sampling-based motion planning algorithm to generate complex, coordinated motions for 3 to 6 mobile manipulators (18--36 DoF), with cNKZ solving up to 80 nonlinear constraints simultaneously and achieving up to a 92% success rate in cluttered environments. We also demonstrate our approach on hardware using three Turtlebot3 Waffle Pi robots with OpenMANIPULATOR-X arms.
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