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Add to EdgeA Method for Multi-Robot Asynchronous Trajectory Execution in MoveIt2
Oct 03, 2023
This work presents an extension to the MoveIt2 planning library supporting asynchronous execution for multi-robot / multi-arm robotic setups. The proposed method introduces a unified way for the execution of both synchronous and asynchronous trajectories by implementing a simple scheduler and guarantees collision-free operation by continuous collision checking while the robots are moving.
* Accepted to the "IROS 2023 Workshop on Task and Motion Planning: from
Theory to Practice" -- https://dyalab.mines.edu/2023/iros-workshop/
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