LARC：机械臂轨迹的惰性自适应可达性认证
LARC: Lazy Adaptive Reachability Certification of Robot Manipulator Trajectories
- National University of Singapore（新加坡国立大学）
- Singapore Institute of Manufacturing Technology（新加坡制造技术研究院）
- Agency for Science Technology and Research（新加坡科技研究局）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
针对机械臂轨迹离散检查易漏碰撞、均匀时间划分浪费算力的问题，提出LARC惰性自适应可达性认证，仅对安全距离不确定的区间二分，在AgileX PIPER轨迹上实现约10倍加速且匹配基线决策，仅部分轨迹未认证。
AI中文摘要：
离散轨迹检查可能会遗漏采样的机器人状态之间的碰撞。基于可达性的认证对状态间的运动进行边界约束，但均匀时间划分会在安全距离较大的地方浪费计算资源。我们提出惰性自适应可达性认证（LARC），该方法通过仅对安全距离测试不确定的区间进行二分来检查规划轨迹。对于分段三次埃尔米特关节轨迹，该方法使用由精确分量速度最大值放大的中点胶囊来约束连杆占据空间。覆盖轨迹的已认证区间可提供连续时间下相对于外部障碍物的安全距离，需满足几何包含、静态障碍物和规定余量的条件。在来自80个起点-终点对的160条AgileX PIPER轨迹上，LARC在深度9时与固定精细基线的所有决策匹配。它使用了20328次区间评估（为基线工作量的24.8%），配对中位数加速比为10.28倍。单独的MoveIt/FCL审核检查了158051个状态，在21个直接插值控制中检测到碰撞，而这些碰撞均未被LARC认证。该方法在共享认证模型下减少了计算量，但139条采样安全轨迹中有27条仍未被认证。采样审核无法独立证明连续时间下的安全距离。
英文摘要：
Discrete trajectory checks can miss collisions between sampled robot states. Reachability-based certification bounds motion between states, but uniform time partitions waste computation where clearance is large. We present lazy adaptive reachability certification (LARC), which checks a planned trajectory by bisecting only intervals with an inconclusive clearance test. For piecewise-cubic Hermite joint trajectories, the method bounds link occupancy using midpoint capsules inflated by exact componentwise speed maxima. Certified intervals covering the trajectory provide continuous-time external-obstacle clearance, subject to geometric containment, static obstacles, and a prescribed margin. On 160 AgileX PIPER trajectories from 80 start-goal pairs, LARC matched all decisions of the fixed-fine baseline at depth nine. It used 20328 interval evaluations (24.8% of baseline work), with a median paired speedup of 10.28x. A separate MoveIt/FCL audit checked 158051 states and detected collisions in 21 direct-interpolation controls, none of which LARC certified. The method reduced computation under a shared certificate model, but 27 of 139 sampled-clear trajectories remained uncertified. The sampled audit cannot independently prove continuous-time clearance.
