相关论文: Enhanced functions supporting process planning for…

This letter investigates computing-accessibility-aware cooperative 3D deployment of multiple UAVs for task completion enhancement, termed CA3D. We first provide a theoretical analysis showing that computing accessibility is the key…

The automation of composite sheet layup is essential to meet the increasing demand for composite materials in various industries. However, draping plans for the robotic layup of composite sheets are not robust. A plan that works well under…

In this thesis, we aim to improve the performance of TAMP algorithms from three complementary perspectives. First, we investigate the integration of discrete task planning with continuous trajectory optimization. Our main contribution is a…

Today's production systems are complex networks of cyber-physical systems which combine mechanical and electronic parts with software and networking capabilities. To the inherent complexity of such systems additional complexity arises from…

Use of knowledge-based planning tools can help alleviate the challenges of planning a complex operation by a coalition of diverse parties in an adversarial environment. We explore these challenges and potential contributions of…

Parametric Computer-Aided Design (CAD) of articulated assemblies is essential for product development, yet generating these multi-part, movable models from high-level descriptions remains unexplored. To address this, we propose ArtiCAD, the…

Complex shapes are widely used to design products in several industries such as aeronautics, automotive and domestic appliances. Several variations of their curvatures and orientations generate difficulties during their manufacturing or the…

Although various structural optimization techniques have a sound mathematical basis, the practical constructability of optimal designs poses a great challenge in the manufacturing stage. Currently, there is only a limited number of unified…

3D Computer-Aided Design (CAD) users need to overcome several obstacles to benefit from the flexibility of programmatic interface tools. Besides the barriers of any programming language, users face challenges inherent to 3D spatial…

Creating digital models using Computer Aided Design (CAD) is a process that requires in-depth expertise. In industrial product development, this process typically involves entire teams of engineers, spanning requirements engineering, CAD…

Past work on optimizing fabrication plans given a carpentry design can provide Pareto-optimal plans trading off between material waste, fabrication time, precision, and other considerations. However, when developing fabrication plans,…

Communication and computation are often viewed as separate tasks. This approach is very effective from the perspective of engineering as isolated optimizations can be performed. However, for many computation-oriented applications, the main…

The ability to accurately quantify the performance an additively manufactured (AM) product is important for a widespread industry adoption of AM as the design is required to: (1) satisfy geometrical constraints, (2) satisfy structural…

In research of manufacturing systems and autonomous robots, the term capability is used for a machine-interpretable specification of a system function. Approaches in this research area develop information models that capture all information…

Intelligent interaction with the real world requires robotic agents to jointly reason over high-level plans and low-level controls. Task and motion planning (TAMP) addresses this by combining symbolic planning and continuous trajectory…

Machining time is a major performance criterion when it comes to high-speed machining. CAM software can help in estimating that time for a given strategy. But in practice, CAM-programmed feed rates are rarely achieved, especially where…

There is currently a drive in the aerospace domain to introduce machine to machine communication over wireless networks to improve ground processes at airports such as refuelling and air conditiong. To this end a session key has to be…

This paper proposes a framework for computational modeling of artistic painting algorithms, inspired by human creative practices. Based on examples from expert artists and from the author's own experience, the paper argues that creative…

Multi-Agent Path Finding (MAPF) is the problem of finding collision-free paths for multiple agents from their start locations to end locations. We consider an extension to this problem, Precedence Constrained Multi-Agent Path Finding…

We consider a sequential task and motion planning (tamp) setting in which a robot is assigned continuous-space rearrangement-style tasks one-at-a-time in an environment that persists between each. Lacking advance knowledge of future tasks,…