Multi-Robot Coordination and Simulation for Branched Deformable Linear Object Manipulation

Hartmann A, Lamprecht S, Ammon F, Wang W, Brundl P, Franke J (2025)

Publication Type: Conference contribution

Publication year: 2025

Publisher: Institute of Electrical and Electronics Engineers Inc.

Pages Range: 855-860

Conference Proceedings Title: 2025 5th International Conference on Robotics, Automation, and Artificial Intelligence, RAAI 2025

Event location: Singapore SG

ISBN: 9798331558734

DOI: 10.1109/RAAI67517.2025.11422998

Abstract

Automating the manipulation of branched deformable linear objects (e.g. wire harnesses) with multiple robots is a complex challenge due to the object's flexibility. In this paper, a coordinated planning and simulation pipeline is presented enabling multiple industrial robot arms to jointly manipulate a deformable object in a manufacturing context. The pipeline is modular, consisting of task definition, physicsbased deformable linear object (DLO) modeling, coordinated multi-robot trajectory planning with deformation constraints, inter-robot collision checking, and simulation-based validation of planned motions. The system is validated primarily in simulation, showing that three robots can successfully route DLOs through complex geometries without entanglement or collisions, and a qualitative real-world demo to illustrate feasibility. The proposed approach is the first to demonstrate a multi-robot planning pipeline for branched DLO manipulation with multiple robots. The results highlight how careful coordination and planning can enable multi-robot deformable object manipulation, offering a foundation for automating wire harness installation in manufacturing.

Authors with CRIS profile

Annalena Hartmann Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS) Simon Lamprecht Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS) Jörg Franke Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS)

How to cite

APA:

Hartmann, A., Lamprecht, S., Ammon, F., Wang, W., Brundl, P., & Franke, J. (2025). Multi-Robot Coordination and Simulation for Branched Deformable Linear Object Manipulation. In 2025 5th International Conference on Robotics, Automation, and Artificial Intelligence, RAAI 2025 (pp. 855-860). Singapore, SG: Institute of Electrical and Electronics Engineers Inc..

MLA:

Hartmann, Annalena, et al. "Multi-Robot Coordination and Simulation for Branched Deformable Linear Object Manipulation." Proceedings of the 2025 5th International Conference on Robotics, Automation, and Artificial Intelligence, RAAI 2025, Singapore Institute of Electrical and Electronics Engineers Inc., 2025. 855-860.

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