C-space cell defragmentation for general translational assembly planning

F. Schwarzer, A. Schweikard

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.

Original languageEnglish
Title of host publicationProceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
Number of pages6
Volume2
PublisherIEEE
Publication date15.09.2001
Pages1537-1542
ISBN (Print)0-7803-6576-3
DOIs
Publication statusPublished - 15.09.2001
Event2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of
Duration: 21.05.200126.05.2001
Conference number: 58499

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