2020
DOI: 10.48550/arxiv.2012.04721
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SDSS-V Algorithms: Fast, Collision-Free Trajectory Planning for Heavily Overlapping Robotic Fiber Positioners

Conor Sayres,
José R. Sánchez-Gallego,
Michael R. Blanton
et al.

Abstract: Robotic fiber positioner (RFP) arrays are becoming heavily adopted in wide field massively multiplexed spectroscopic survey instruments. RFP arrays decrease nightly operational overheads through rapid reconfiguration between fields and exposures. In comparison to similar instruments, SDSS-V has selected a very dense RFP packing scheme where any point in a field is typically accessible to three or more robots. This design provides flexibility in target assignment. However, the task of collision-less trajectory … Show more

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