両腕RRT動作計画を1秒で安全検証
Certifying Bimanual RRT Motion Plans in a Second
多項式で表された動作計画が衝突しないことを、Sums-of-Squares最適化を用いて厳密かつ高速に証明する手法を提案し、12自由度の両腕動作計画を約1秒で検証した。
著者: Alexandre Amice, Peter Werner, Russ Tedrake
分類: cs.RO, cs.CG
原文アブストラクト
We present an efficient method for certifying non-collision for piecewise-polynomial motion plans in algebraic reparametrizations of configuration space. Such motion plans include those generated by popular randomized methods including RRTs and PRMs, as well as those generated by many methods in trajectory optimization. Based on Sums-of-Squares optimization, our method provides exact, rigorous certificates of non-collision; it can never falsely claim that a motion plan containing collisions is collision-free. We demonstrate that our formulation is practical for real world deployment, certifying the safety of a twelve degree of freedom motion plan in just over a second. Moreover, the method is capable of discriminating the safety or lack thereof of two motion plans which differ by only millimeters.
