A scheduling and motion-planning framework that decomposes assembly steps into fixed core operations and flexible traverse motions reduced simulated assembly duration by 10-20% versus a decentralized baseline.
Toward efficient trajectory planning: The path-velocity decomposition,
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Simulation-based planning of Motion Sequences for Automated Procedure Optimization in Multi-Robot Assembly Cells
A scheduling and motion-planning framework that decomposes assembly steps into fixed core operations and flexible traverse motions reduced simulated assembly duration by 10-20% versus a decentralized baseline.