Title :
Assembly planning with intermediate states
Author :
Tsao, Jungfu ; Wolter, Jan
Author_Institution :
Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
Abstract :
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
Keywords :
assembling; geometry; planning (artificial intelligence); scheduling; 3D geometric constraints; NOMOL; assembly planning; intermediate states; nonlinear plans; nonmonotonicity; search space; subsumption; Assembly systems; Computer science; Fixtures; State-space methods;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291963
