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Assembly planning with intermediate states

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2 Author(s)
Tsao, J. ; Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA ; Wolter, J.

The nonmonotonicity of assembly planning in different states is characterized and used to represent the three-dimensional geometric constraints of assembly operations in the form of blocking states. A subsumption mechanism based on the blocking states is used to reduce the search space so that a feasible plan can be efficiently found. An algorithm, NOMOL, which can generate nonmonotonic and nonlinear plans is presented and shown to be correct and complete

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993