SDSS-V算法：用于高度重叠的机器人光纤定位器的快速无碰撞轨迹规划
SDSS-V Algorithms: Fast, Collision-Free Trajectory Planning for Heavily Overlapping Robotic Fiber Positioners
摘要：
机器人光纤定位器（RFP）阵列在宽视场大规模复用光谱测量仪器中被大量采用。RFP阵列通过在字段和曝光之间快速重新配置，减少了夜间运营开销。与类似的仪器相比，SDSS-V选择了一种非常密集的RFP包装方案，在该方案中，现场的任何一点通常都可以由三个或更多的机器人访问。这种设计提供了目标分配的灵活性。然而，无碰撞轨迹规划的任务尤其具有挑战性。我们提出了两个多代理分布式控制策略，是非常有效的，计算成本低廉的确定无冲突路径的RFP在严重重叠的重叠重叠。我们证明，如果在初始状态和最终状态之间插入“折叠”状态（其中所有机器人手臂都缩回并以格子状方向对齐），则可以有效地找到两个任意机器人配置之间的重新配置路径。虽然是为SDSS-V开发的，但我们描述的方法是通用的，因此适用于广泛的RFP设计和布局。机器人光纤定位器技术继续快速发展，在不久的将来，超密集封装的RFP设计可能是可行的。我们的算法特别能够在非常拥挤的环境中的路由路径，在那里我们看到有效的结果，即使在政权显着拥挤比SDSS-V RFP设计。
英文摘要：
Robotic fiber positioner (RFP) arrays are becoming heavily adopted in wide field massively multiplexed spectroscopic survey instruments. RFP arrays decrease nightly operational overheads through rapid reconfiguration between fields and exposures. In comparison to similar instruments, SDSS-V has selected a very dense RFP packing scheme where any point in a field is typically accessible to three or more robots. This design provides flexibility in target assignment. However, the task of collision-less trajectory planning is especially challenging. We present two multi-agent distributed control strategies that are highly efficient and computationally inexpensive for determining collision-free paths for RFPs in heavily overlapping workspaces. We demonstrate that a reconfiguration path between two arbitrary robot configurations can be efficiently found if "folded" state, in which all robot arms are retracted and aligned in a lattice-like orientation, is inserted between the initial and final states. Although developed for SDSS-V, the approach we describe is generic and so applicable to a wide range of RFP designs and layouts. Robotic fiber positioner technology continues to advance rapidly, and in the near future ultra-densely packed RFP designs may be feasible. Our algorithms are especially capable in routing paths in very crowded environments, where we see efficient results even in regimes significantly more crowded than the SDSS-V RFP design.
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