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Backward Layout Search for Sequence-Constrained Robotic Assembly — arXiv:2608.18454

Source: arXiv (en)
Original: https://arxiv.org/abs/2608.18454
License (as archived): CC0-1.0
Archived: 2026-10-18T14:06:59.561Z
SHA-256 of the archived text: 50dedc631fb4383c253aa82e516394d1196bd7c0707f63d66d3767113c78b7b9
Stable URL of this page: https://metraipolis.com/documento/dc_72de0bbcd30c

How to cite

Backward Layout Search for Sequence-Constrained Robotic Assembly — arXiv:2608.18454 — arXiv (en), https://arxiv.org/abs/2608.18454 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_72de0bbcd30c (Metraipolis archive dc_72de0bbcd30c, sha256 50dedc631fb4383c253aa82e516394d1196bd7c0707f63d66d3767113c78b7b9)

BibTeX

@misc{dc72de0bbcd30c,
  title = {Backward Layout Search for Sequence-Constrained Robotic Assembly — arXiv:2608.18454},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2608.18454},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_72de0bbcd30c; sha256 50dedc631fb4383c253aa82e516394d1196bd7c0707f63d66d3767113c78b7b9},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2608.18454. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Robotic assembly layout planning must determine the assembly site and the initial pose of each part while ensuring collision-free execution of a prescribed assembly sequence. This problem is challenging because the obstacle environment changes after each assembly step, and unassembled parts re maining in the workspace may block robot motions. We observe that the feasibility of each assembly step depends only on the initial poses of the current and later-assembled parts. Based on this dependency, we propose Backward Layout Search (BLS), which assigns initial part poses in reverse assembly order. Each expansion performs geometric, kinematic, grasp, and prescribed-motion checks, while collision masks and candidate set filtering remove infeasible initial part pose candidates. Promising partial layouts are retained through beam selection, and complete layouts are validated by full motion planning in forward assembly order. Experiments on five assembly models show that BLS produces collision-free executable layouts and reduces step evaluations and search time compared with a matched forward search.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-08-20 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2608.18454 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-18T14:02:33.841Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-08-20?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).