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dc.contributor.authorDogar, Mehmet Remzi
dc.contributor.authorSpielberg, Andrew Everett
dc.contributor.authorBaker, Stuart Polak
dc.contributor.authorRus, Daniela L.
dc.date.accessioned2015-06-02T15:21:09Z
dc.date.available2015-06-02T15:21:09Z
dc.date.issued2015-05
dc.identifier.othersession WeA1T3
dc.identifier.urihttp://hdl.handle.net/1721.1/97150
dc.description.abstractThis paper addresses the problem of finding robot configurations to grasp assembly parts during a sequence of collaborative assembly operations. We formulate the search for such configurations as a constraint satisfaction problem (CSP).Collision constraints in an operation and transfer constraints between operations determine the sets of feasible robot configurations. We show that solving the connected constraint graph with off-the-shelf CSP algorithms can quickly become infeasible even for a few sequential assembly operations. We present an algorithm which, through the assumption of feasible regrasps, divides the CSP into independent smaller problems that can be solved exponentially faster. The algorithm then uses local search techniques to improve this solution by removing a gradually increasing number of regrasps from the plan. The algorithm enables the user to stop the planner anytime and use the current best plan if the cost of removing regrasps from the plan exceeds the cost of executing those regrasps. We present simulation experiments to compare our algorithm’s performance to a naïve algorithm which directly solves the connected constraint graph. We also present a real robot system which uses the output of our planner to grasp and bring parts together in assembly configurations.en_US
dc.description.sponsorshipBoeing Companyen_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://icra2015.org/conference/awards#!coveren_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceDogaren_US
dc.titleMulti-Robot Grasp Planning for Sequential Assembly Operationsen_US
dc.typeArticleen_US
dc.identifier.citationDogar, Mehmet, Andrew Spielberg, Stuart Baker, and Daniella Rus. "Multi-Robot Grasp Planning for Sequential Assembly Operations" in 2015 IEEE International Conference on Robotics and Automation (ICRA), May 26th-30th, 2015, Seattle, Washington.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.mitauthorDogar, Mehmet Remzien_US
dc.contributor.mitauthorSpielberg, Andrew Everetten_US
dc.contributor.mitauthorBaker, Stuart Polaken_US
dc.contributor.mitauthorRus, Daniela L.en_US
dc.relation.journalProceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA)en_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsDogar, Mehmet; Spielberg, Andrew; Baker, Stuart; Rus, Daniellaen_US
dc.identifier.orcidhttps://orcid.org/0000-0001-5473-3566
dc.identifier.orcidhttps://orcid.org/0000-0002-6896-5461
dc.identifier.orcidhttps://orcid.org/0000-0002-6937-6204
dc.identifier.orcidhttps://orcid.org/0000-0002-7654-2733
mit.licenseOPEN_ACCESS_POLICYen_US
mit.metadata.statusComplete


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