Automatic assembly sequence computation based on a merging technique for building structures with robots

A. Sempere, I. Maza, A. Ollero, "Automatic assembly sequence computation based on a merging technique for building structures with robots", 34th Jornadas de Automática, Sep. 2013

Abstract: 
This paper addresses the automatic assembly sequence computation for building truss structures starting from their geometrical analysis. This computation is the first planning step for a team of aerial robots equipped with manipulators used to build structures in places with difficult access by other means. The assembly-by-disassembly technique has been applied to the NDBG graphs computed from the geometry of the structure. The paper presents a novel heuristic based on merging parts of the structure in order to make more assembly operations in parallel.
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