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A path planning approach to (dis)assembly sequencing

Abstract : x 2 The paper describes a new method for simultaneously (dis)assembly sequencing and path planning. Indeed, both are parts of a same problem that can be formulated in a general path planning framework. Based on this formulation, the algorithm proposed in this paper extends a popular sampling-based path planner, RRT, to solve general (dis)assembly planning problems involving objects with arbitrary shapes, and possibly requiring non-monotonic (dis)assembly sequences. The method does not require complex geometric computations, and is easy to implement. Experimental results show the efficiency of the method for solving a large class of problems.
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Contributor : Thierry Simeon <>
Submitted on : Friday, January 18, 2019 - 4:48:31 PM
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Duc Thanh Le, Juan Cortés, Thierry Simeon. A path planning approach to (dis)assembly sequencing. 2009 IEEE International Conference on Automation Science and Engineering (CASE 2009), Aug 2009, Bangalore, India. pp.286-291. ⟨hal-01986320⟩



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