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Some of the next generation massive spectroscopic survey projects, such asDESI and PFS, plan to use thousands of fiber positioner robots packed at afocal plane to quickly move in parallel the fiber-ends from the previous to thenext target points. The most direct trajectories are prone to collision thatcould damage the robots and impact the survey operation. We thus present here amotion planning method based on a novel decentralized navigation function forcollision-free coordination of fiber positioners. The navigation function takesinto account the configuration of positioners as well as the actuatorconstraints. We provide details for the proof of convergence and collisionavoidance. Decentralization results in linear complexity for the motionplanning as well as dependency of motion duration with respect to the number ofpositioners. Therefore the coordination method is scalable for large-scalespectrograph robots. The short in-motion duration of positioner robots (~2.5seconds using typical actuator constraints), will thus allow the time dedicatedfor observation to be maximized.

Collision Avoidance in Next-generation Fiber Positioner Robotic System for Large Survey Spectrograph