Multi-scale assembly with robot teams

  title={Multi-scale assembly with robot teams},
  author={Mehmet Remzi Dogar and Ross A. Knepper and Andrew Spielberg and Changhyun Choi and Henrik I. Christensen and Daniela Rus},
  journal={The International Journal of Robotics Research},
  pages={1645 - 1659}
In this paper we present algorithms and experiments for multi-scale assembly of complex structures by multi-robot teams. We also focus on tasks where successful completion requires multiple types of assembly operations with a range of precision requirements. We develop a hierarchical planning approach to multi-scale perception in support of multi-scale manipulation, in which the resolution of the perception operation is matched with the required resolution for the manipulation operation. We… 

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