In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as Multi-Robot Dynamic Fabrics (MRDF). This geometric method enables a very high planning frequency for high-dimensional systems at the expense of being reactive and prone to deadlocks. To detect and resolve deadlocks, we propose Rollout Fabrics where MRDF are forward simulated in a decentralized manner. We validate the methods in simulated close-proximity pick-and-place scenarios with multiple manipulators, showing high success rates and real-time performance.

翻译：本文研究了多个在近距离协同操作的机器人机械臂的实时运动规划问题。我们在动态织物（Dynamic Fabrics）概念基础上进行扩展，提出面向多机器人系统的"多机器人动态织物"（Multi-Robot Dynamic Fabrics, MRDF）。这种几何方法能够支持高维系统以极高频率进行规划，但存在反应式特性与易陷入死锁的局限。为检测并解决死锁问题，我们提出"滚动织物"（Rollout Fabrics）方法——通过去中心化方式对MRDF进行前向仿真。在多个机械臂近距离拾放场景的仿真实验中，该方法展现出高成功率与实时性能。