Algorithmic Planning For Robotic Assembly Of Building Structures
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Algorithmic Planning for Robotic Assembly of Building Structures
This thesis develops the algorithmic foundations for applying automated planning techniques to program robots to assemble discrete spatial structures. Benefitting from the robot's capacity for moving, positioning, and holding elements precisely, robotic assembly aims to neutralize the cost and time impact of increasing demand for non-standard, customized designs using programmable robotics and automated process. Programming robots to assemble structures requires us to reason about the construction sequence and the robotic motions. The critical planning challenge is satisfying both stiffness constraints that limit the deformation of the structure and geometric constraints that ensure the robot does not collide with the structure. Current planning approaches either require a significant amount of human intervention or do not scale to the numeric scale and geometric complexity demanded by construction. As we shift from mass production in manufacturing to mass customization in construction, we need versatile planning tools that can adapt to different structural typologies, off-load tedious human programming work, and involve human expertise when relevant. "This thesis addresses this need by proposing a unified algorithmic framework to formulate and solve assembly planning problems. Our investigations are grounded on three broad classes of assembly planning problems: (1) spatial extrusion, (2) pick-and-place assembly, and (3) robotic assembly with multiple tool changes. For each class of assembly problems, we propose scalable, efficient planning algorithms and test them with simulated and real-world case studies. This thesis demonstrates how algorithmic planning can provide us with a much smoother transition between an assembly design and its final execution on the robot. Based on these sound foundations of the "forward-evaluation" of robotic constructability in various contexts, we finally attempt to "close the loop" -- deriving a metric to measure constructability and use it to guide the performance-driven exploration of a discrete design catalog.
Algorithmic Foundations of Robotics X
Algorithms are a fundamental component of robotic systems. Robot algorithms process inputs from sensors that provide noisy and partial data, build geometric and physical models of the world, plan high-and low-level actions at different time horizons, and execute these actions on actuators with limited precision. The design and analysis of robot algorithms raise a unique combination of questions from many elds, including control theory, computational geometry and topology, geometrical and physical modeling, reasoning under uncertainty, probabilistic algorithms, game theory, and theoretical computer science. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a single-track meeting of leading researchers in the eld of robot algorithms. Since its inception in 1994, WAFR has been held every other year, and has provided one of the premiere venues for the publication of some of the eld's most important and lasting contributions. This books contains the proceedings of the tenth WAFR, held on June 13{15 2012 at the Massachusetts Institute of Technology. The 37 papers included in this book cover a broad range of topics, from fundamental theoretical issues in robot motion planning, control, and perception, to novel applications.
Advances in Architectural Geometry 2023
Author: Kathrin Dörfler
language: en
Publisher: Walter de Gruyter GmbH & Co KG
Release Date: 2023-10-04
This book contains 34 technical papers presented at the Advances in Architectural Geometry Conference held in Stuttgart 2023. Modern geometric computing increasingly plays a role in modeling environments and processing sensing information, providing a variety of tools for the efficient design, analysis, and manufacturing of complex shapes. The research area of architectural geometry (AG) has emerged at the common border of architecture, applied geometry, computational design, mathematics, and manufacturing. This book presents the state of the art of research in AG.