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Multi-Robot Grasp Planning for Sequential Assembly Operations

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dc.contributor.author Dogar, Mehmet Remzi
dc.contributor.author Spielberg, Andrew Everett
dc.contributor.author Baker, Stuart Polak
dc.contributor.author Rus, Daniela L.
dc.date.accessioned 2015-06-02T15:21:09Z
dc.date.available 2015-06-02T15:21:09Z
dc.date.issued 2015-05
dc.identifier.other session WeA1T3
dc.identifier.uri http://hdl.handle.net/1721.1/97150
dc.description.abstract This 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.sponsorship Boeing Company en_US
dc.language.iso en_US
dc.publisher Institute of Electrical and Electronics Engineers (IEEE) en_US
dc.relation.isversionof http://icra2015.org/conference/awards#!cover en_US
dc.rights Creative Commons Attribution-Noncommercial-Share Alike en_US
dc.rights.uri http://creativecommons.org/licenses/by-nc-sa/4.0/ en_US
dc.source Dogar en_US
dc.title Multi-Robot Grasp Planning for Sequential Assembly Operations en_US
dc.type Article en_US
dc.identifier.citation Dogar, 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.department Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory en_US
dc.contributor.department Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science en_US
dc.contributor.mitauthor Dogar, Mehmet Remzi en_US
dc.contributor.mitauthor Spielberg, Andrew Everett en_US
dc.contributor.mitauthor Baker, Stuart Polak en_US
dc.contributor.mitauthor Rus, Daniela L. en_US
dc.relation.journal Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA) en_US
dc.identifier.mitlicense OPEN_ACCESS_POLICY en_US
dc.eprint.version Author's final manuscript en_US
dc.type.uri http://purl.org/eprint/type/ConferencePaper en_US
eprint.status http://purl.org/eprint/status/NonPeerReviewed en_US
dspace.orderedauthors Dogar, Mehmet; Spielberg, Andrew; Baker, Stuart; Rus, Daniella en_US
dc.identifier.orcid https://orcid.org/0000-0001-5473-3566
dc.identifier.orcid https://orcid.org/0000-0002-6896-5461
dc.identifier.orcid https://orcid.org/0000-0002-6937-6204
dc.identifier.orcid https://orcid.org/0000-0002-7654-2733


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