Overcoming Explicit Environment Representations With Geometric Fabrics

Abstract

Deployment of robots in dynamic environments requires reactive trajectory generation. While optimization-based methods, such as Model Predictive Control focus on constraint verificaction, Geometric Fabrics offer a computationally efficient way to generate trajectories that include all avoidance behaviors if the environment can be represented as a set of object primitives. Obtaining such a representation from sensor data is challenging, especially in dynamic environments. In this paper, we integrate <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">implicit</i> environment representations, such as Signed Distance Fields and Free Space Decomposition into the framework of Geometric Fabrics. In the process, we derive how numerical gradients can be integrated into the push and pull operations in Geometric Fabrics. Our experiments reveal that both, ground robots and robotic manipulators, can be controlled using these implicit representations. Moreover, we show that, unlike the explicit representation, implicit representations can be used in the presence of dynamic obstacles without further considerations. Finally, we demonstrate our methods in the real-world, showing the applicability of our approach in practice.