Customized grippers have broad applications in industrial assembly lines. Compared with general parallel grippers, the customized grippers have specifically designed fingers to increase the contact area with the workpieces and improve the grasp robustness. However, grasp planning for customized grippers is challenging due to the object variations, surface contacts and structural constraints of ...

Estimates of predicate selectivities by database query optimizers often differ significantly from those actually encountered during query execution, leading to poor plan choices and inflated response times. Recently, a novel idea, SEER [1], of mitigating this problem by replacing selectivity error-sensitive plan choices with alternative plans that provide robust performance was proposed. The id...

The role of social commitments in distributed, multi-agent planning and plan execution will be discussed in this article. We argue agents’ capability to reason about the actions in the form of social commitments directly improving robustness of the plans in dynamic, multi-actor environment. We focused on relaxation decommitment strategy, targeted specifically to the time interval in which the a...

In this paper, we present an automated method for selecting optimal overlay sampling plans based on a systematic evaluation of the spatial variation components of overlay errors, overlay prediction errors, sampling confidence, and yield loss due to inadequate sampling. Generalized nested ANOVA and clustering analysis are used to quantify the major components of overlay variations in terms of st...

This paper focuses on the robustness problem of full implication triple implication inference method for fuzzy reasoning. First of all, based on strong regular implication, the weighted logic metric for measuring distance between two fuzzy sets is proposed. Besides, under this metric, some robustness results of the triple implication method are obtained, which demonstrates that the triple impli...

In mobile manipulation planning, it is not uncommon for tasks to require thousands of individual motions. Planning complexity is exponential in the length of the plan, rendering direct motion planning intractable for many problems of interest. Recent work has focused on task and motion planning (TAMP) as a way to address this challenge. TAMP methods integrate logical search with continuous geom...