Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly

Robotic construction assembly planning aims to find feasible assembly sequences as well as the corresponding robot-paths and can be seen as a special case of task and motion planning (TAMP). As construction assembly can well be parallelized, it is desirable to plan for multiple robots acting concurr...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 39; no. 1; pp. 239 - 252
Main Authors:	Hartmann, Valentin N., Orthey, Andreas, Driess, Danny, Oguz, Ozgur S., Toussaint, Marc
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.02.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Assembly Bidirectional control Construction planning Feasibility Manipulation planning Motion planning multi-robot systems Multiple robots Optimization Planning Robot arms Robot kinematics robotics and automation in construction Robots Service robots Task analysis task planning Trajectory
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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