Related papers: Assemble Them All: Physics-Based Planning for Gene…
Modern assembly processes require flexibility and adaptability to handle increasing product variety and customization. Traditional assembly planning methods often prioritize finding an optimal assembly sequence, overlooking the requirements…
Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…
Despite recent developments in management theory, maintaining a manufacturing schedule remains difficult because of production delays and fluctuations in demand and supply of materials. The response of manufacturing systems to such…
As robots proliferate in manufacturing, Design for Robotic Assembly (DfRA), which is designing products for efficient automated assembly, is increasingly important. Traditional approaches to DfRA rely on manual planning, which is…
Understanding the motion of articulated mechanical assemblies from static geometry remains a core challenge in 3D perception and design automation. Prior work on everyday articulated objects such as doors and laptops typically assumes…
The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…
Design for Manufacturing and Assembly (DFMA) is a crucial design stage within the heavy vehicle manufacturing process that involves optimising the order and feasibility of the parts assembly process to reduce manufacturing complexity and…
Industrial robots can solve very complex tasks in controlled environments, but modern applications require robots able to operate in unpredictable surroundings as well. An increasingly popular reactive policy architecture in robotics is…
Sampling-based planning is the predominant paradigm for motion planning in robotics. Most sampling-based planners use a global random sampling scheme to guarantee probabilistic completeness. However, most schemes are often inefficient as…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
Sequential assembly with geometric primitives has drawn attention in robotics and 3D vision since it yields a practical blueprint to construct a target shape. However, due to its combinatorial property, a greedy method falls short of…
Many remarkably robust, rapid and spontaneous self-assembly phenomena in nature can be modeled geometrically starting from a collection of rigid bunches of spheres. This paper highlights the role of symmetry in sphere-based assembly…
We study a scheduling problem in which jobs may be split into parts, where the parts of a split job may be processed simultaneously on more than one machine. Each part of a job requires a setup time, however, on the machine where the job…
Self-assembly is a ubiquitous process in synthetic and biological systems, broadly defined as the spontaneous organization of multiple subunits (e.g. macromolecules, particles) into ordered multi-unit structures. The vast majority of…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
Plastic deformation of most crystalline materials is due to the motion of lattice dislocations. Therefore, the simulation of the interaction and dynamics of these defects has become state-of-the-art method to study work hardening, size…
There is increasing demand for automated systems that can fabricate 3D structures. Robotic spatial extrusion has become an attractive alternative to traditional layer-based 3D printing due to a manipulator's flexibility to print large,…
Well-fitted clothing is essential for both real and virtual garments to enable self-expression and accurate representation for a large variety of body types. Common practice in the industry is to provide a pre-made selection of distinct…
This paper proposes a novel "auto-agglomerative" 3D fracture assembly method, PuzzleFusion++, resembling how humans solve challenging spatial puzzles. Starting from individual fragments, the approach 1) aligns and merges fragments into…
Generalised planning (GP) refers to the task of synthesising programs that solve families of related planning problems. We introduce a novel, yet simple method for GP: given a set of training problems, for each problem, compute an optimal…