An iterative diffusion algorithm for part disassembly

@article{Ferre2004AnID,
  title={An iterative diffusion algorithm for part disassembly},
  author={Etienne Ferre and Jean-Paul Laumond},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  year={2004},
  volume={3},
  pages={3149-3154 Vol.3}
}
The paper presents an efficient collision-free path planner for mechanical part disassembly simulation. The principle of the algorithm involves computing a first path while allowing some penetration within the obstacles. Then the current paths are iteratively re-shaped by decreasing the allowed penetration threshold. The process is controlled by a dynamic collision checker. The cases of failure of the iterative process are automatically detected and solved. 
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