Expansive Voronoi Tree: A Motion Planner for Assembly Sequence Planning
Sebastian Dorn Nicola Wolpert Elmar Schömer Sebastian Dorn Nicola Wolpert Elmar Schömer
One major challenge in Assembly Sequence Planning (ASP) for complex real-world CAD-scenarios is to find an appropriate disassembly path for each assembled part. Complex real-world scenes are characterized by a large installation space. There each part has many different possible disassembly paths that differ in length and clearance. However, due to tight packing in the installation space, these pa...