C-space cell defragmentation for general translational assembly planning

F. Schwarzer; A. Schweikard

doi:10.1109/ROBOT.2001.932829

C-space cell defragmentation for general translational assembly planning

F. Schwarzer, A. Schweikard

Institut für Robotik und Kognitive Systeme

Technische Universität München

2 Zitate (Scopus)

Abstract

We present an exact and practical incremental method for general translational assembly planning. In practical cases, an exact and complete representation of the relevant free regions in the high-dimensional assembly configuration space becomes amenable by incrementally computing an arrangement of cells in d-dimensional space. Here we introduce a novel reduction scheme, D-node reduction, that allows for online defragmentation of the computed cell decomposition and thus significant speedup and reduction of storage requirements. Experimental results for both two-and three-dimensional assemblies show the practicality, of the proposed approach and illustrate the impact of the new reduction scheme.

Originalsprache	Englisch
Titel	Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
Seitenumfang	6
Band	2
Herausgeber (Verlag)	IEEE
Erscheinungsdatum	15.09.2001
Seiten	1537-1542
ISBN (Print)	0-7803-6576-3
DOIs	https://doi.org/10.1109/ROBOT.2001.932829
Publikationsstatus	Veröffentlicht - 15.09.2001
Veranstaltung	2001 IEEE International Conference on Robotics and Automation - Seoul, Südkorea Dauer: 21.05.2001 → 26.05.2001 Konferenznummer: 58499

UN SDGs

Dieser Output leistet einen Beitrag zu folgendem(n) Ziel(en) für nachhaltige Entwicklung

SDG 3 – Gesundheit und Wohlergehen
SDG 9 – Industrie, Innovation und Infrastruktur

Dokumente

10.1109/ROBOT.2001.932829

Weitere Links

https://www.scopus.com/pages/publications/0034876001

Zitieren

Schwarzer, F., & Schweikard, A. (2001). C-space cell defragmentation for general translational assembly planning. in Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164) (Band 2, S. 1537-1542). (Proceedings - IEEE International Conference on Robotics and Automation; Band 2). IEEE. https://doi.org/10.1109/ROBOT.2001.932829

@inproceedings{528c9dd4f34741b19defea4dafae1a0d,

title = "C-space cell defragmentation for general translational assembly planning",

abstract = "We present an exact and practical incremental method for general translational assembly planning. In practical cases, an exact and complete representation of the relevant free regions in the high-dimensional assembly configuration space becomes amenable by incrementally computing an arrangement of cells in d-dimensional space. Here we introduce a novel reduction scheme, D-node reduction, that allows for online defragmentation of the computed cell decomposition and thus significant speedup and reduction of storage requirements. Experimental results for both two-and three-dimensional assemblies show the practicality, of the proposed approach and illustrate the impact of the new reduction scheme.",

author = "F. Schwarzer and A. Schweikard",

year = "2001",

month = sep,

day = "15",

doi = "10.1109/ROBOT.2001.932829",

language = "English",

isbn = "0-7803-6576-3",

volume = "2",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "IEEE",

pages = "1537--1542",

booktitle = "Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)",

note = "2001 IEEE International Conference on Robotics and Automation , ICRA 2001 ; Conference date: 21-05-2001 Through 26-05-2001",

}

Schwarzer, F & Schweikard, A 2001, C-space cell defragmentation for general translational assembly planning. in Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164). Bd. 2, Proceedings - IEEE International Conference on Robotics and Automation, Bd. 2, IEEE, S. 1537-1542, 2001 IEEE International Conference on Robotics and Automation , Seoul, Südkorea, 21.05.01. https://doi.org/10.1109/ROBOT.2001.932829

C-space cell defragmentation for general translational assembly planning. / Schwarzer, F.; Schweikard, A.
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164). Band 2 IEEE, 2001. S. 1537-1542 (Proceedings - IEEE International Conference on Robotics and Automation; Band 2).

Publikation: Kapitel in Büchern/Berichten/Konferenzbänden › Konferenzbeitrag › Begutachtung

TY - GEN

T1 - C-space cell defragmentation for general translational assembly planning

AU - Schwarzer, F.

AU - Schweikard, A.

N1 - Conference code: 58499

PY - 2001/9/15

Y1 - 2001/9/15

N2 - We present an exact and practical incremental method for general translational assembly planning. In practical cases, an exact and complete representation of the relevant free regions in the high-dimensional assembly configuration space becomes amenable by incrementally computing an arrangement of cells in d-dimensional space. Here we introduce a novel reduction scheme, D-node reduction, that allows for online defragmentation of the computed cell decomposition and thus significant speedup and reduction of storage requirements. Experimental results for both two-and three-dimensional assemblies show the practicality, of the proposed approach and illustrate the impact of the new reduction scheme.

AB - We present an exact and practical incremental method for general translational assembly planning. In practical cases, an exact and complete representation of the relevant free regions in the high-dimensional assembly configuration space becomes amenable by incrementally computing an arrangement of cells in d-dimensional space. Here we introduce a novel reduction scheme, D-node reduction, that allows for online defragmentation of the computed cell decomposition and thus significant speedup and reduction of storage requirements. Experimental results for both two-and three-dimensional assemblies show the practicality, of the proposed approach and illustrate the impact of the new reduction scheme.

UR - https://www.scopus.com/pages/publications/0034876001

U2 - 10.1109/ROBOT.2001.932829

DO - 10.1109/ROBOT.2001.932829

M3 - Conference contribution

SN - 0-7803-6576-3

VL - 2

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 1537

EP - 1542

BT - Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)

PB - IEEE

T2 - 2001 IEEE International Conference on Robotics and Automation

Y2 - 21 May 2001 through 26 May 2001

ER -

C-space cell defragmentation for general translational assembly planning

Abstract

UN SDGs

Dokumente

Weitere Links

Fingerprint

Zitieren