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Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
[article]
2022
arXiv
pre-print
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner that ensures each robot is simultaneously productive, and not idle, is challenging due to (1) the close proximity that the robots must operate in to manipulate the structure and (2) the inherent structural partial orderings on when each part can be
arXiv:2203.02475v1
fatcat:j24oby2adjak5fciywnuoxtr6a