相关论文: On Two-Handed Planar Assembly Partitioning with Co…

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…

We present algorithmic results for the parallel assembly of many micro-scale objects in two and three dimensions from tiny particles, which has been proposed in the context of programmable matter and self-assembly for building high-yield…

Several fragments of the satisfiability problem have been studied in the literature. Among these, Linear 3-SAT is a satisfaction problem in which each clause (viewed as a set of literals) intersects with at most one other clause; moreover,…

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…

A 3-SAT problem is called positive and planar if all the literals are positive and the clause-variable incidence graph (i.e., SAT graph) is planar. The NAE 3-SAT and 1-in-3-SAT are two variants of 3-SAT that remain NP-complete even when…

We consider the computational complexity of reconfiguration problems, in which one is given two combinatorial configurations satisfying some constraints, and is asked to transform one into the other using elementary transformations, while…

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…

Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes…

Planning dual-arm assembly of more than three objects is a challenging Task and Motion Planning (TAMP) problem. The assembly planner shall consider not only the pose constraints of objects and robots, but also the gravitational constraints…

The partition problem is a well-known basic NP-complete problem. We mainly consider the optimization version of it in this paper. The problem has been investigated from various perspectives for a long time and can be solved efficiently in…

The n-way number partitioning problem, a fundamental challenge in combinatorial optimization, has significant implications for applications such as fair division and machine scheduling. Despite these problems being NP-hard, many…

The (non-uniform) sparsest cut problem is the following graph-partitioning problem: given a "supply" graph, and demands on pairs of vertices, delete some subset of supply edges to minimize the ratio of the supply edges cut to the total…

Most successes in autonomous robotic assembly have been restricted to single target or category. We propose to investigate general part assembly, the task of creating novel target assemblies with unseen part shapes. As a fundamental step to…

This paper proposes an assembly sequence planning framework, named Subassembly to Assembly (S2A). The framework is designed to enable a robotic manipulator to assemble multiple parts in a prespecified structure by leveraging object…

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…

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…

In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…

We consider algorithmic problems motivated by modular robotic reconfiguration in the sliding square model, in which we are given $n$ square-shaped modules in a (labeled or unlabeled) start configuration and need to find a schedule of…

We show that packing axis-aligned unit squares into a simple polygon $P$ is NP-hard, even when $P$ is an orthogonal and orthogonally convex polygon with half-integer coordinates. It has been known since the early 80s that packing unit…

Despite remarkable achievements in its practical tractability, the notorious class of NP-complete problems has been escaping all attempts to find a worst-case polynomial time-bound solution algorithms for any of them. The vast majority of…