Related papers: String Diagrams for Assembly Planning
String diagrams are an increasingly popular algebraic language for the analysis of graphical models of computations across different research fields. Whereas string diagrams have been thoroughly studied as semantic structures, much less…
The sequence in which a complex product is assembled directly impacts the ease and efficiency of the assembly process, whether executed by a human or a robot. A sequence that gives the assembler the greatest freedom of movement is therefore…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
String diagrams are a graphical language used to represent processes that can be composed sequentially or in parallel, which correspond graphically to horizontal or vertical juxtaposition. In this paper we demonstrate how to compute the…
We introduce a method to automatically compute LEGO Technic models from user input sketches, optionally with motion annotations. The generated models resemble the input sketches with coherently-connected bricks and simple layouts, while…
Assembly sequence planning (ASP) is the essential process for modern manufacturing, proven to be NP-complete thus its effective and efficient solution has been a challenge for researchers in the field. In this paper, we present a…
This paper proposes a new concept in which a digital twin derived from a digital product description will automatically perform assembly planning and orchestrate the production resources in a manufacturing cell. Thus the manufacturing cell…
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…
We tackle the problem of sequential brick assembly with LEGO bricks to create combinatorial 3D structures. This problem is challenging since this brick assembly task encompasses the characteristics of combinatorial optimization problems. In…
Assembly planning is the core of automating product assembly, maintenance, and recycling for modern industrial manufacturing. Despite its importance and long history of research, planning for mechanical assemblies when given the final…
Computing schedulers that optimize reachability probabilities in MDPs is a standard verification task. To address scalability concerns, we focus on MDPs that are compositionally described in a high-level description formalism. In…
We consider the problem of efficiently scheduling the production of goods for a model steel manufacturing company. We propose a new approach for solving this classic problem, using techniques from the statistical physics of complex networks…
The automated assembly of complex products requires a system that can automatically plan a physically feasible sequence of actions for assembling many parts together. In this paper, we present ASAP, a physics-based planning approach for…
In this paper we report a new promising idea on the design and manufacturing of ply composite structures, tailored to exhibit maximum stiffness under given weight constraints and loading conditions. It is based on the idea behind an…
This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…
Structured LLM workflows, where specialized LLM sub-agents execute according to a predefined graph, have become a powerful abstraction for solving complex tasks. Optimizing such workflows, i.e., selecting configurations for each sub-agent…
Synchronous systems provide a basic model of embedded systems and industrial systems are modeled as Simulink diagrams and/or Lustre programs. Although the test generation problem is critical in the development of safe systems, it often…
The string-matching field has grown at a such complicated stage that various issues come into play when studying it: data structure and algorithmic design, database principles, compression techniques, architectural features, cache and…