VAMP-MR: Vector-Accelerated Motion Planning and Execution for Multi-Robot-Arms

摘要

Multi-robot-arm motion planning is a key challenge in deploying multiple manipulators for industrial tasks such as manufacturing. Existing search-based and sampling-based solvers often require significant computation time to produce collision-free, high-quality motions suitable for safe real-world execution. In this work, we introduce a new suite of multi-robot-arm motion planners capable of near real-time motion generation, combining classical planning algorithms with state-of-the-art vectorized collision-checking techniques. Based on CPU SIMD instructions, our new planners accelerate their primary bottleneck, collision checking, and achieve up to two orders of magnitude speedup in both motion planning and execution postprocessing for multi-arm manipulation tasks. We also release our implementation to lower the barrier for research and development of multi-robot-arm planning and manipulation problems. Code is available at https://vamp-mr.github.io/vamp-mr