Related papers: Efficiently Disassemble-and-Pack for Mechanism

Simplification is one of the fundamental operations used in geoinformation science (GIS) to reduce size or representation complexity of geometric objects. Although different simplification methods can be applied depending on one's purpose,…

The article proposes a heuristic approximation approach to the bin packing problem under multiple objectives. In addition to the traditional objective of minimizing the number of bins, the heterogeneousness of the elements in each bin is…

This study presents a framework for optimizing the two-dimensional (2D) placement of electric motorcycle powertrain elements, accounting for the position, the orientation and geometric irregularities. Specifically, we construct a 2D…

This paper presents an efficient algorithm for the approximation of the rank-one convex hull in the context of nonlinear solid mechanics. It is based on hierarchical rank-one sequences and simultaneously provides first and second derivative…

Dense packing in pick-and-place systems is an important feature in many warehouse and logistics applications. Prior work in this space has largely focused on planning algorithms in simulation, but real-world packing performance is often…

Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…

In two-dimensional geometric knapsack problem, we are given a set of n axis-aligned rectangular items and an axis-aligned square-shaped knapsack. Each item has integral width, integral height and an associated integral profit. The goal is…

We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…

Although the isogeometric analysis has shown its great potential in achieving highly accurate numerical solutions of partial differential equations, its efficiency is the main factor making the method more competitive in practical…

For a polygonal linkage, we produce a fast navigation algorithm on its configuration space. The basic idea is to approximate the configuration space by the vertex-edge graph of its cell decomposition discovered by the first author. The…

Robot pick and place systems have traditionally decoupled grasp, placement, and motion planning to build sequential optimization pipelines with the assumption that the individual components will be able to work together. However, this…

In this paper it is shown how to map a data manifold into a simpler form by progressively discarding small degrees of freedom. This is the key to self-organising data fusion, where the raw data is embedded in a very high-dimensional space…

Designing functional materials requires a deep search through multidimensional spaces for system parameters that yield desirable material properties. For cases where conventional parameter sweeps or trial-and-error sampling are impractical,…

Sampling-based algorithms are widely used for motion planning in high-dimensional configuration spaces. However, due to low sampling efficiency, their performance often diminishes in complex configuration spaces with narrow corridors.…

While humans can successfully navigate using abstractions, ignoring details that are irrelevant to the task at hand, most existing robotic applications require the maintenance of a detailed environment representation which consumes a…

Much contemporary research in additive manufacturing focuses on breaking down models into constituent parts in the pursuit of various factors, such as printability of large models in smaller printing volumes, or reduction of support…

We study a natural geometric variant of the classic Knapsack problem called 2D-Knapsack: we are given a set of axis-parallel rectangles and a rectangular bounding box, and the goal is to pack as many of these rectangles inside the box…

We have developed a simulation technique that uses non-linear finite element analysis and elastic fracture mechanics to compute physically plausible motion for three-dimensional, solid objects as they break, crack, or tear. When these…

Multi-part assembly poses significant challenges for robots to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present Fabrica, a dual-arm robotic system capable of end-to-end planning and…

This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…