General Translational Assembly Planning

Achim Schweikard; Fabian Schwarzer

doi:10.1109/ROBOT.1997.620104

General Translational Assembly Planning

Achim Schweikard, Fabian Schwarzer

Institute of Robotics and Cognitive Systems

Technical University of Munich

Abstract

An exact and practical method for translational motion planning with many degrees of freedom is derived. It is shown that certain D-dimensional arrangements of hyperplanes can be searched in the following way: only a single connected component is traversed during the search, and the arrangement is searched as an arrangement of surface patches rather than full hyperplanes. This reduction in search effort allows for polynomial time bounds in appropriate cases. Heuristic and randomized planners cannot return an information about infeasibility of planning problems. The new method is exact and complete. Experiments obtained with an implementation suggest that it is capable of reaching the performance of the most advanced random planning schemes. In addition, insolvability can be established in practical cases.

Original language	English
Pages	612-619
Number of pages	8
DOIs	https://doi.org/10.1109/ROBOT.1997.620104
Publication status	Published - 01.01.1997
Event	Proceedings of the 1997 IEEE International Conference on Robotics and Automation - Albuquerque, United States Duration: 20.04.1997 → 25.04.1997 Conference number: 46971

Conference

Conference	Proceedings of the 1997 IEEE International Conference on Robotics and Automation
Abbreviated title	ICRA 1997
Country/Territory	United States
City	Albuquerque
Period	20.04.97 → 25.04.97

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10.1109/ROBOT.1997.620104

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abstract = "An exact and practical method for translational motion planning with many degrees of freedom is derived. It is shown that certain D-dimensional arrangements of hyperplanes can be searched in the following way: only a single connected component is traversed during the search, and the arrangement is searched as an arrangement of surface patches rather than full hyperplanes. This reduction in search effort allows for polynomial time bounds in appropriate cases. Heuristic and randomized planners cannot return an information about infeasibility of planning problems. The new method is exact and complete. Experiments obtained with an implementation suggest that it is capable of reaching the performance of the most advanced random planning schemes. In addition, insolvability can be established in practical cases.",

author = "Achim Schweikard and Fabian Schwarzer",

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doi = "10.1109/ROBOT.1997.620104",

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N2 - An exact and practical method for translational motion planning with many degrees of freedom is derived. It is shown that certain D-dimensional arrangements of hyperplanes can be searched in the following way: only a single connected component is traversed during the search, and the arrangement is searched as an arrangement of surface patches rather than full hyperplanes. This reduction in search effort allows for polynomial time bounds in appropriate cases. Heuristic and randomized planners cannot return an information about infeasibility of planning problems. The new method is exact and complete. Experiments obtained with an implementation suggest that it is capable of reaching the performance of the most advanced random planning schemes. In addition, insolvability can be established in practical cases.

AB - An exact and practical method for translational motion planning with many degrees of freedom is derived. It is shown that certain D-dimensional arrangements of hyperplanes can be searched in the following way: only a single connected component is traversed during the search, and the arrangement is searched as an arrangement of surface patches rather than full hyperplanes. This reduction in search effort allows for polynomial time bounds in appropriate cases. Heuristic and randomized planners cannot return an information about infeasibility of planning problems. The new method is exact and complete. Experiments obtained with an implementation suggest that it is capable of reaching the performance of the most advanced random planning schemes. In addition, insolvability can be established in practical cases.

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T2 - Proceedings of the 1997 IEEE International Conference on Robotics and Automation

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ER -

General Translational Assembly Planning

Abstract

Conference

UN SDGs

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