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

Institute of Robotics and Cognitive Systems

Technical University of Munich

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 language	English
Title of host publication	Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
Number of pages	6
Volume	2
Publisher	IEEE
Publication date	15.09.2001
Pages	1537-1542
ISBN (Print)	0-7803-6576-3
DOIs	https://doi.org/10.1109/ROBOT.2001.932829
Publication status	Published - 15.09.2001
Event	2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of Duration: 21.05.2001 → 26.05.2001 Conference number: 58499

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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) (Vol. 2, pp. 1537-1542). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2). IEEE. https://doi.org/10.1109/ROBOT.2001.932829

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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.",

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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). vol. 2, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2, IEEE, pp. 1537-1542, 2001 IEEE International Conference on Robotics and Automation , Seoul, Korea, Republic of, 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). Vol. 2 IEEE, 2001. p. 1537-1542 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2).

Research output: Chapters in Books/Reports/Conference Proceedings › Conference contribution › peer-review

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

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AU - Schweikard, A.

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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.

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M3 - Conference contribution

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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

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