论文标题
构造序列MPC：顺序操作的反应性计时 - 最佳控制
Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation
论文作者
论文摘要
任务和运动计划在解决严格的顺序操作问题方面取得了长足的进步。但是，此类计划公式与反应性执行的控制方法之间存在差距。在本文中，我们提出了一种模型预测控制方法，该方法专门执行单个约束序列，该方法对应于TAMP计划的离散决策序列。我们将整体控制问题分解为三个子问题（解决顺序航路点，其时机和一个简短的退回地平线路径），每个问题都是在每个MPC循环中在线求解的一个非线性程序。由此产生的控制策略可以解释约束的长期相互依存关系，并通过所有约束来反应地计划正常的过渡。我们还建议在无法实现当前阶段的运行约束时进行回试，从而导致了一种流利的重新引入行为，这对实验者的扰动和干扰是可靠的。
Task and Motion Planning has made great progress in solving hard sequential manipulation problems. However, a gap between such planning formulations and control methods for reactive execution remains. In this paper we propose a model predictive control approach dedicated to robustly execute a single sequence of constraints, which corresponds to a discrete decision sequence of a TAMP plan. We decompose the overall control problem into three sub-problems (solving for sequential waypoints, their timing, and a short receding horizon path) that each is a non-linear program solved online in each MPC cycle. The resulting control strategy can account for long-term interdependencies of constraints and reactively plan for a timing-optimal transition through all constraints. We additionally propose phase backtracking when running constraints of the current phase cannot be fulfilled, leading to a fluent re-initiation behavior that is robust to perturbations and interferences by an experimenter.
