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multi robot path planning #16

#1

Hi,
I would like to ask if in klampt is already implemented the possibility of planning coordinate motion for two robot or subrobot models, ensuring collision-free paths .
Thanks for your support !!

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#2

There is nothing “built-in” for this, but you could define a CSpace for kinematic multi-robot planning as long as you implement a joint configuration, sampler, and collision detector.

The kinodynamic planning pipeline is not implemented in Python, but you could do this in C++.

The most scalable approach is to implement special-purpose planners, eg planning on a coordination graph. There are no plans as of yet to implement something like this in Klampt, but you are welcome to contribute something!