TY - GEN
T1 - S*
T2 - 2023 IEEE International Conference on Robotics and Automation, ICRA 2023
AU - Laha, Riddhiman
AU - Wu, Wenxi
AU - Sun, Ruiai
AU - Mansfeld, Nico
AU - Figueredo, Luis F.C.
AU - Haddadin, Sami
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - As robots and humans increasingly share the same workspace, the development of safe motion plans becomes paramount. For real-world applications, nonetheless, it is critical that safety solutions are achieved without compromising performance. The computation of safe, time-efficient trajectories, however, usually requires rather complex often decoupled planning and optimization methods which degrades the nominal performance. In this work, instead, we cast the problem as a graph search-based scheme that enables us to solve the problem efficiently. The graph search is guided by an informed cost balance criterion. In this context we present the S∗ algorithm which minimizes the total planning time by equilibrising shortest time-efficient paths and paths with higher safe velocities. The approach is compatible with standards and validated both in rigorous simulation trials on a 6 DoF UR5 robot as well as real world experiments on a Franka Emika 7 DoF research robot.
AB - As robots and humans increasingly share the same workspace, the development of safe motion plans becomes paramount. For real-world applications, nonetheless, it is critical that safety solutions are achieved without compromising performance. The computation of safe, time-efficient trajectories, however, usually requires rather complex often decoupled planning and optimization methods which degrades the nominal performance. In this work, instead, we cast the problem as a graph search-based scheme that enables us to solve the problem efficiently. The graph search is guided by an informed cost balance criterion. In this context we present the S∗ algorithm which minimizes the total planning time by equilibrising shortest time-efficient paths and paths with higher safe velocities. The approach is compatible with standards and validated both in rigorous simulation trials on a 6 DoF UR5 robot as well as real world experiments on a Franka Emika 7 DoF research robot.
UR - http://www.scopus.com/inward/record.url?scp=85168689983&partnerID=8YFLogxK
U2 - 10.1109/ICRA48891.2023.10161248
DO - 10.1109/ICRA48891.2023.10161248
M3 - Conference contribution
AN - SCOPUS:85168689983
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 12758
EP - 12764
BT - Proceedings - ICRA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 29 May 2023 through 2 June 2023
ER -