Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation

Cooperative manipulation tasks impose various structure-, task-, and robot-specific constraints on mobile manipulators. However, current methods struggle to model and solve these myriad constraints simultaneously. We propose a twofold solution: first, we model constraints as a family of manifolds amenable to simultaneous solving. Second, we introduce the constrained nonlinear Kaczmarz (cNKZ) projection technique to produce constraint-satisfying solutions. Experiments show that cNKZ dramatically outperforms baseline approaches, which cannot find solutions at all. We integrate cNKZ with a sampling-based motion planning algorithm to generate complex, coordinated motions for 3 to 6 mobile manipulators (18--36 DoF), with cNKZ solving up to 80 nonlinear constraints simultaneously and achieving up to a 92% success rate in cluttered environments. We also demonstrate our approach on hardware using three Turtlebot3 Waffle Pi robots with OpenMANIPULATOR-X arms.

@article{agrawal2025_2410.21630,
  title={ Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation },
  author={ Akshaya Agrawal and Parker Mayer and Zachary Kingston and Geoffrey A. Hollinger },
  journal={arXiv preprint arXiv:2410.21630},
  year={ 2025 }
}