Posted by @mxgrey:
You might need to elaborate on what you mean by “unnecessary”. New plans will always try to accommodate the existing plans of other robots, but if an accommodating plan can’t be found then a negotiation will be triggered to get all the robot plans synced up.
It’s possible that you’re seeing negotiations in situations where human intelligence feels like there’s an obvious intuitive solution, but for one reason or another the motion planner didn’t manage to see a solution that can accommodate the existing plans of the other robots (either rightly or wrongly).
Posted by @alex-roba:
@mxgrey
Here’s an example of what I would consider an unnecessary negotiation: the plans don’t overlap at all, yet a negotiation still takes place.
Edited by @alex-roba at 2025-04-09T03:50:08Z
Posted by @mxgrey:
Are you referring to negotiation [16]?
My best guess would be that something triggered a replan for the robot on top, and that replan involved going into an area where the bottom robot had been recently. Even though the bottom robot has already passed out of the area, it still remains in the robot’s schedule history to some extent. The robot on top probably saw that while replanning and triggered a negotiation to ensure that the bottom robot is truly done in that area.
This does seem like a wrinkle that we should iron out in the next generation.
Posted by @0RBalaji:
@mxgrey Here’s an example of what I would consider an unnecessary negotiation: the plans don’t overlap at all, yet a negotiation still takes place.
Untitled.video.-.Made.with.Clipchamp.5.mp4
Even I have faced the similar problem. The paths are intersecting but the robots have 6-7 nodes in between before reaching to the negotiation node. And the robots timing to reach there are also different. it shouldn’t trigger the negotiation but it does.
I assumed it was because of the custom tweaks I have performed as it acts weird, when such “unnecessary” negotiations get triggered. Those weird behaviour is surely because of my tweaks.