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We present a novel algorithm for collision-free kinematics of multiplemanipulators in a shared workspace with moving obstacles. Ouroptimization-based approach simultaneously handles collision-free constraintsbased on reciprocal velocity obstacles and inverse kinematics constraints forhigh-DOF manipulators. We present an efficient method based on particle swarmoptimization that can generate collision-free configurations for each redundantmanipulator. Furthermore, our approach can be used to compute safe andoscillation-free trajectories in a few milli-seconds. We highlight thereal-time performance of our algorithm on multiple Baxter robots with 14-DOFmanipulators operating in a workspace with dynamic obstacles. Videos areavailable at https://sites.google.com/view/collision-free-kinematics

Collision-Free Kinematics for Redundant Manipulators in Dynamic Scenes using Optimal Reciprocal Velocity Obstacles