Distributed Assembly with AND/OR Graphs
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چکیده
We describe a planning system in development for efficiently and scalably distributing the task of complex object assembly among multi-robot or human-robot teams. The planner utilizes an AND/OR graph to concisely represent feasible distributed assembly sequences for a given number of available workers (robots or humans). By representing all possible assembly plans in the AND/OR graph, the planner is able to defer commitment to a single plan. This attribute mirrors the natural human approach to collaboration and enables the system to handle failures efficiently.
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تاریخ انتشار 2014