5 papers
PEEL: Parallel Extraction for Long-Horizon Disassembly Planning via Scale-Invariant Sampling
Servet B. Bayraktar, Andreas Orthey, Zachary Kingston +1
Long-horizon multi-part object disassembly requires robots to compute feasible sequences of collision-free removal motions, even in the presence of tight, narrow escape corridors.…
Coordinated Multi-Robot Disassembly for Makespan Optimization of Large-Scale Assemblies
Niklas Hargus, Andreas Orthey, Marc Toussaint
Multi-robot task and motion planning for disassembly tasks requires robots to operate in confined workspaces while coordinating their motions with other robots. To tackle this prob…
Fibration Trees: A Unified Approach to Multi-Robot Motion Planning
Andreas Orthey, Florian T. Pokorny, Lydia E. Kavraki
State space projections and decompositions have emerged as powerful tools to tackle the curse of dimensionality in high-dimensional, multi-robot motion planning problems. However,…
PhyRoGen: Synthetic Generation of Physical Robot Manipulation Puzzles Using Procedural Content Generation
Lennart Julian DroÃ, Andreas Orthey, Marc Toussaint
Robot manipulation of physical puzzles is important for automatic assembly and disassembly tasks. However, to enable robots to solve physical puzzles, manipulation skills need to b…
Scale-Invariant Sampling in Multi-Arm Bandit Motion Planning for Object Extraction
Servet B. Bayraktar, Andreas Orthey, Marc Toussaint
Object extraction tasks often occur in disassembly problems, where bolts, screws, or pins have to be removed from tight, narrow spaces. In such problems, the distance to the enviro…