GAPCoD: A Generic Assembly Planner by Constrained Disassembly
Pages 1028 - 1036
Abstract
In the literature we can find many kinds of modular robot that can build a wide variety of structures. In general, finding an assembly order to reach the final configuration, while respecting the insertion constraints of each kind of modular robot is a difficult process that requires system-specific tuning. In this article, we introduce a generic assembly planner by constrained disassembly (GAPCoD) which works with all kinds of modular robots. It outputs a directed acyclic graph where vertices are modules needing to be placed before his child nodes. This graph is obtained through the disassembly of the desired structure submitted to user chosen constraints. We detail the compiler as well as the way to choose constraints and their influence on performance. The robots embed simple path planning algorithm to reach the destination and act as decentralized agents. Examples are provided to show the possibilities that the compiler offers with two very different robot systems and constraints.
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Index Terms
- GAPCoD: A Generic Assembly Planner by Constrained Disassembly
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Information
Published In
May 2020
2289 pages
ISBN:9781450375184
- General Chairs:
- Amal El Fallah Seghrouchni,
- Gita Sukthankar,
- Program Chairs:
- Bo An,
- Neil Yorke-Smith Yorke-Smith
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International Foundation for Autonomous Agents and Multiagent Systems
Richland, SC
Publication History
Published: 13 May 2020
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AAMAS '19
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AAMAS '19: International Conference on Autonomous Agents and Multiagent Systems
May 9 - 13, 2020
Auckland, New Zealand
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Overall Acceptance Rate 1,155 of 5,036 submissions, 23%
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