让数百个浮水机器人实现快速无碰撞轨迹规划
Motion planning for hundreds of floating robots
- 通过分解耦合问题为独立可并行求解的交互集群
- 支持500台机器人仿真，实测24台在湖面成功运行
- 适合大规模动态群体表演与实时交互系统
大规模机器人编队的无碰撞路径规划极具挑战，因避障导致的强耦合随团队规模急剧增长。本文研究水面上全向浮动机器人，其编队由稀疏关键帧定义，要求交互式工具在数秒内生成轨迹，即使过渡跨越数分钟、上千时间步。我们提出一种可扩展流程：从初始化构建碰撞图，将耦合问题分解为交互簇，并独立（且并行）求解各簇，同时引入鲁棒机制应对常见分解病态。我们在模拟中验证至500台机器人的可行性，合成轨迹已在真实场景部署：瑞士苏黎世湖使用24艘Way of Water船体，以及2025年威尼斯双年展‘时间空间存在’展览。
原文摘要 · Abstract (English)
Planning collision-free motion for large robot fleets is difficult because collision avoidance induces strong inter-agent coupling that grows rapidly with team size. We consider omnidirectional floating robots on water, where choreographies are specified by sparse keyframes and an interactive tool must generate trajectories within seconds, even when transitions span minutes and thousands of time steps. We propose a scalable pipeline that builds a collision graph from an initialization, decomposes the coupled problem into interaction clusters, and solves clusters independently (and in parallel) with robustness mechanisms for common decomposition pathologies. We validate the approach in simulations up to 500 robots. The synthesized trajectories have also been deployed in two real-world demonstrations, on Lake Zürich with a fleet of 24 Way of Water crafts and at the Time Space Existence 2025 Venice Biennale.
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