23,621 research outputs found
Automated sequence and motion planning for robotic spatial extrusion of 3D trusses
While robotic spatial extrusion has demonstrated a new and efficient means to
fabricate 3D truss structures in architectural scale, a major challenge remains
in automatically planning extrusion sequence and robotic motion for trusses
with unconstrained topologies. This paper presents the first attempt in the
field to rigorously formulate the extrusion sequence and motion planning (SAMP)
problem, using a CSP encoding. Furthermore, this research proposes a new
hierarchical planning framework to solve the extrusion SAMP problems that
usually have a long planning horizon and 3D configuration complexity. By
decoupling sequence and motion planning, the planning framework is able to
efficiently solve the extrusion sequence, end-effector poses, joint
configurations, and transition trajectories for spatial trusses with
nonstandard topologies. This paper also presents the first detailed computation
data to reveal the runtime bottleneck on solving SAMP problems, which provides
insight and comparing baseline for future algorithmic development. Together
with the algorithmic results, this paper also presents an open-source and
modularized software implementation called Choreo that is machine-agnostic. To
demonstrate the power of this algorithmic framework, three case studies,
including real fabrication and simulation results, are presented.Comment: 24 pages, 16 figure
Query processing of spatial objects: Complexity versus Redundancy
The management of complex spatial objects in applications, such as geography and cartography,
imposes stringent new requirements on spatial database systems, in particular on efficient
query processing. As shown before, the performance of spatial query processing can be improved
by decomposing complex spatial objects into simple components. Up to now, only decomposition
techniques generating a linear number of very simple components, e.g. triangles or trapezoids, have
been considered. In this paper, we will investigate the natural trade-off between the complexity of
the components and the redundancy, i.e. the number of components, with respect to its effect on
efficient query processing. In particular, we present two new decomposition methods generating
a better balance between the complexity and the number of components than previously known
techniques. We compare these new decomposition methods to the traditional undecomposed representation
as well as to the well-known decomposition into convex polygons with respect to their
performance in spatial query processing. This comparison points out that for a wide range of query
selectivity the new decomposition techniques clearly outperform both the undecomposed representation
and the convex decomposition method. More important than the absolute gain in performance
by a factor of up to an order of magnitude is the robust performance of our new decomposition
techniques over the whole range of query selectivity
Efficient Multi-Robot Coverage of a Known Environment
This paper addresses the complete area coverage problem of a known
environment by multiple-robots. Complete area coverage is the problem of moving
an end-effector over all available space while avoiding existing obstacles. In
such tasks, using multiple robots can increase the efficiency of the area
coverage in terms of minimizing the operational time and increase the
robustness in the face of robot attrition. Unfortunately, the problem of
finding an optimal solution for such an area coverage problem with multiple
robots is known to be NP-complete. In this paper we present two approximation
heuristics for solving the multi-robot coverage problem. The first solution
presented is a direct extension of an efficient single robot area coverage
algorithm, based on an exact cellular decomposition. The second algorithm is a
greedy approach that divides the area into equal regions and applies an
efficient single-robot coverage algorithm to each region. We present
experimental results for two algorithms. Results indicate that our approaches
provide good coverage distribution between robots and minimize the workload per
robot, meanwhile ensuring complete coverage of the area.Comment: In proceedings of IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), 201
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