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A Method for Multi-Robot Asynchronous Trajectory Execution in MoveIt2

Published 3 Oct 2023 in cs.RO | (2310.08597v1)

Abstract: 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.

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