General Translational Assembly Planning

Achim Schweikard, Fabian Schwarzer


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 languageEnglish
Number of pages8
Publication statusPublished - 01.01.1997
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation - Albuquerque, United States
Duration: 20.04.199725.04.1997
Conference number: 46971


ConferenceProceedings of the 1997 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 1997
Country/TerritoryUnited States


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