We present a novel algorithm for collision-free manipulation of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity obstacles and inverse kinematics constraints  . We present an efficient method based on particle swarm optimization that can generate collision-free configurations for each redundant manipulator. Furthermore, our approach can be used to compute safe and oscillation-free trajectories  . We highlight the real-time performance of our algorithm on multiple Baxter robots with 14-DOF manipulators operating in a workspace with dynamic obstacles. 
We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity obstacles and inverse kinematics constraints for high-DOF manipulators . We present an efficient method based on particle swarm optimization that can generate collision-free configurations for each redundant manipulator. Furthermore, our approach can be used to compute safe and oscillation-free trajectories in a few milli-seconds . We highlight the real-time performance of our algorithm on multiple Baxter robots with 14-DOF manipulators operating in a workspace with dynamic obstacles. Videos are available at URL
R
manipulation
kinematics
A
for high-DOF manipulators
A
in a few milli-seconds
A
Videos are available at URL