Assembly sequence planning for constructing planar structures with rectangular modules

@article{Seo2016AssemblySP,
  title={Assembly sequence planning for constructing planar structures with rectangular modules},
  author={Jungwon Seo and Mark Yim and Vijay Kumar},
  journal={2016 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2016},
  pages={5477-5482}
}
This paper addresses assembly sequence planning for constructing planar structures of the common brick wall pattern collectively with mobile modular robots that have the same rectangular footprint. Here we present a new algorithm for target structures with internal holes that our previous algorithm was not able to address. Our new algorithm constructs a feasible assembly sequence where robots do not have to pass through narrow corridors while approaching their target positions. The algorithm is… CONTINUE READING