Related papers: 5-axis High Speed Milling Optimisation
Motion planning can be cast as a trajectory optimisation problem where a cost is minimised as a function of the trajectory being generated. In complex environments with several obstacles and complicated geometry, this optimisation problem…
Textile industry is becoming a highly competitive area with the increase in demand for textile products. Since expanding the production capacity is not always feasible, optimizing the existing system is more practical. In particular, we…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
The design of nonlinear superconducting quantum circuits often relies on time-consuming iterative electromagnetic simulations requiring manual intervention. These interventions entail, for example, adjusting design variables such as…
The problem of optimization of the rolling dynamics model is considered. That providing safe movement at high frequency when interacting with the railway. Moreover, allowing to evaluate the dynamic parameters when designing new and…
Motion planning for autonomous vehicles requires generating collision-free and dynamically feasible trajectories in complex environments under real-time constraints. While nonlinear optimal control formulations provide high-fidelity…
We present a method for obtaining approximate solutions to the problem of optimal execution, based on a signature method. The framework is general, only requiring that the price process is a geometric rough path and the price impact…
In robot-assisted minimally invasive surgery (RMIS), inverse kinematics (IK) must satisfy a remote center of motion (RCM) constraint to prevent tissue damage at the incision point. However, most of existing IK methods do not account for the…
Linear diagrams are an effective way to visualize set-based data by representing elements as columns and sets as rows with one or more horizontal line segments, whose vertical overlaps with other rows indicate set intersections and their…
To generate safe and real-time trajectories for an autonomous vehicle in dynamic environments, path and speed decoupled planning methods are often considered. This paper studies speed planning, which mainly deals with dynamic obstacle…
We study the problem of optimal multi-robot path planning on graphs MPP over four distinct minimization objectives: the makespan (last arrival time), the maximum (single-robot traveled) distance, the total arrival time, and the total…
This paper addresses the challenges of automating vibratory sieve shaker operations in a materials laboratory, focusing on three critical tasks: 1) dual-arm lid manipulation in 3 cm clearance spaces, 2) bimanual handover in overlapping…
We present a full pipeline for computing the medial axis transform of an arbitrary 2D shape. The instability of the medial axis transform is overcome by a pruning algorithm guided by a user-defined Hausdorff distance threshold. The stable…
The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to isotropic and manipulability constraints…
Sampling-based motion planners (SBMPs) are widely used to compute dynamically feasible robot paths. However, their reliance on uniform sampling often leads to poor efficiency and slow planning in complex environments. We introduce a novel…
Turning is the most commonly available and least expensive machining operation, in terms of both machine-hour rates and tool insert prices. A practical CNC process planner has to maximize the utilization of turning, not only to attain…
Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…
In this paper, we explore statistical versus computational trade-off to address a basic question in the application of a distributed algorithm: what is the minimal computational cost in obtaining statistical optimality? In smoothing spline…
We describe an algorithm for solving an important geometric problem arising in computer-aided manufacturing. When cutting away a region from a solid piece of material -- such as steel, wood, ceramics, or plastic -- using a rough tool in a…