MR-SPITE：通过层次化扫掠体近似加速多机器人冲突扫描
MR-SPITE: Accelerating Multi-Robot Conflict Scans via Hierarchical Swept-Volume Approximations
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中文总结 AI 辅助
本文提出MR-SPITE，一种基于运动段保守边界的过滤器，通过层次化扫掠体近似加速多机器人路径冲突扫描，在ARC中集成后实现7.18倍扫描加速和57%规划时间减少。
中文摘要 AI 辅助
对同步机器人路径进行冲突扫描需要详细的碰撞检测，可能涉及每个时间步上的每一对机器人，并且在冲突修复过程中可能需要重复多次。我们提出了多机器人SPITE（MR-SPITE），一种基于运动段、保守的过滤器，用于加速这些扫描。MR-SPITE将每条路径划分为时间间隔，并为每个段分配保守的边界。一个间隔调度器比较时间上重叠运动的边界：不相交的边界证明共享窗口无冲突，而未解决的窗口则传递给底层碰撞检查器。我们将MR-SPITE集成到ARC中，并与基于VAMP的碰撞检查相结合。对于16个Fetch机器人，与基线ARC实现（使用PRM+VAMP）相比，采用MR-SPITE的ARC实现了成对中位冲突扫描加速7.18倍，并将中位规划时间减少了57%。这些结果表明，运动段边界补充了配置级碰撞加速，同时保留了底层离散化扫描器的行为。
英文摘要
Conflict scanning over synchronized robot paths requires detailed collision checking, potentially across every robot pair at every timestep, and may be repeated many times as conflicts are repaired. We present Multi-Robot SPITE (MR-SPITE), a conservative, motion-segment-based filter for accelerating these scans. MR-SPITE partitions each path into temporal intervals and assigns conservative bounds to each segment. An interval scheduler compares bounds for temporally overlapping motions: disjoint bounds certify the shared window as conflict-free, while unresolved windows are passed to the underlying collision checker. We integrate MR-SPITE into ARC and combine it with VAMP-based collision checking. For 16 Fetch robots, ARC with MR-SPITE achieves a paired median conflict scan speedup of 7.18x and reduces median planning time by 57% relative to the baseline ARC implementation with PRM+VAMP. These results demonstrate that motion-segment bounds complement configuration-level collision acceleration while preserving the behavior of the underlying discretized scanner.
发表机构
- University of Illinois（伊利诺伊大学）
- Instituto Tecnológico Autónomo de México (ITAM)（墨西哥自治技术学院）
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