Article

cuArms: A GPU-Accelerated Conflict-Based Planner for Multi-Arm Manipulation

cuArms is a conflict-based planner co-designed with GPU parallelism. It decomposes the search space using reusable multi-modal roadmaps and resolves conflicts and deadlocks through lazy search. It integrates with a high-level scheduler to jointly optimize task assignment, scheduling, motion, and manipulation skills. Experiments report real-time initial solutions and anytime improvements in motion quality and scheduling, without domain training for learning-based methods. The authors say it provides demo videos on both simulated and real industrial tasks.

Part of the event: cuArms: A GPU-Accelerated Multi-Arm Conflict Planner

This page provides a summary and source link only.