Preprint
Aug 2026
Backward Layout Search for Sequence-Constrained Robotic Assembly
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...
Xi Zhang, Jiancong Dai, Hao Chen et al.
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