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The aim of coordinated planning is to avoid robot-to-robot collisions in amulti-robot system, and there are two standard solution approaches: centralizedplanning and decoupled planning. Our first contribution is a decoupled planningapproach that ensures C2-continuous control commands with zero velocities atthe start and goal. We benchmark our decoupled approach with a centralizedapproach. Contrary to literature, we show that for a standard motion planningpipeline, such as the one used by MoveIt!, centralized planning is superior todecoupled planning in dual-arm manipulation: It has a lower computation timeand a higher robustness. Our second contribution is an optimization thatminimizes the rotational motion of an end-effector while considering obstacleavoidance. We derive the analytic gradients of this optimization problem,making the algorithm suitable for online motion planning. Our optimizationextends an existing path quality improvement method. Integrating it into ourdecoupled approach overcomes its shortcomings and provides a motion planningpipeline that is robust at up to 99.9% with a planning time of less than 1s andthat computes high-quality paths.

Centralized vs. Decoupled Dual-Arm Planning Taking into Account Path Quality