Optimal Robotic Assembly Sequence Planning (ORASP): A Sequential Decision-Making Approach
Published in 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Proposed a new formulation of the robotic assembly sequencing problem as a Markov Decision Process. Then showed how a class of methods called Graph Exploration Assembly Planners (GEAPs) can be used to gather optimal assembly sequences from a graph. We then showcased a deep reinforcement learning extension for handling very complex structures, all while handling diverse constraints.
Recommended citation: https://doi.org/10.1109/IROS58592.2024.10802475