Matches in SemOpenAlex for { <https://semopenalex.org/work/W2888293167> ?p ?o ?g. }
Showing items 1 to 78 of
78
with 100 items per page.
- W2888293167 endingPage "126" @default.
- W2888293167 startingPage "121" @default.
- W2888293167 abstract "Abstract The task of bin picking is to automatically unload objects from a container using a robotic manipulator. A widely used solution is to organize the objects into a predictable pattern, e.g., a workpiece carrier, in order to simplify all integral subtasks like object recognition, motion planning and grasping. In such a case, motion planning can even be solved offline as it is ensured that the objects are always at the same positions. However, there is a growing demand for non-structured bin picking, where the objects can be placed randomly in the bins. This arises from recent trends of transforming classical factories into smart production facilities allowing small lot sizes at the efficiency of mass production. Due to unknown positions of the objects in the non-structured bin picking scenario, trajectories for the manipulator cannot be precomputed, but they have to be computed online. Sampling-based motion planning methods like Rapidly Exploring Random Tree (RRT) can be used to plan the trajectories. In this paper, we propose a modification of RRT for distributed motion planning aiming to reduce the runtime. The planning task is first simplified by computing several guiding waypoints. The waypoints are distributed to a set of planners running in parallel and each planner computes a short trajectory between two given waypoints. Connecting the waypoints is easier than solving the original task, therefore each planner runs fast. In comparison to other parallel motion planning techniques, the proposed approach does not require any communication among the computational nodes, which is more suitable for cloud-based computing. The proposed work has been verified both in simulation and on a prototype of a bin picking system." @default.
- W2888293167 created "2018-08-31" @default.
- W2888293167 creator A5036993060 @default.
- W2888293167 creator A5065074078 @default.
- W2888293167 creator A5083101752 @default.
- W2888293167 date "2018-01-01" @default.
- W2888293167 modified "2023-10-17" @default.
- W2888293167 title "Distributed Motion Planning for Industrial Random Bin Picking" @default.
- W2888293167 cites W1519191783 @default.
- W2888293167 cites W1969805947 @default.
- W2888293167 cites W1977077642 @default.
- W2888293167 cites W1999250663 @default.
- W2888293167 cites W2002548850 @default.
- W2888293167 cites W2027693953 @default.
- W2888293167 cites W2050820283 @default.
- W2888293167 cites W2055201760 @default.
- W2888293167 cites W2060701477 @default.
- W2888293167 cites W2082272540 @default.
- W2888293167 cites W2094058241 @default.
- W2888293167 cites W2095668460 @default.
- W2888293167 cites W2128990851 @default.
- W2888293167 cites W2145485130 @default.
- W2888293167 cites W2159722616 @default.
- W2888293167 cites W2164062812 @default.
- W2888293167 cites W2516274974 @default.
- W2888293167 cites W2524259061 @default.
- W2888293167 cites W2552127864 @default.
- W2888293167 cites W2563927405 @default.
- W2888293167 cites W2734570545 @default.
- W2888293167 cites W2735503391 @default.
- W2888293167 doi "https://doi.org/10.1016/j.procir.2018.01.039" @default.
- W2888293167 hasPublicationYear "2018" @default.
- W2888293167 type Work @default.
- W2888293167 sameAs 2888293167 @default.
- W2888293167 citedByCount "4" @default.
- W2888293167 countsByYear W28882931672019 @default.
- W2888293167 countsByYear W28882931672020 @default.
- W2888293167 countsByYear W28882931672022 @default.
- W2888293167 countsByYear W28882931672023 @default.
- W2888293167 crossrefType "journal-article" @default.
- W2888293167 hasAuthorship W2888293167A5036993060 @default.
- W2888293167 hasAuthorship W2888293167A5065074078 @default.
- W2888293167 hasAuthorship W2888293167A5083101752 @default.
- W2888293167 hasBestOaLocation W28882931671 @default.
- W2888293167 hasConcept C104114177 @default.
- W2888293167 hasConcept C11413529 @default.
- W2888293167 hasConcept C127413603 @default.
- W2888293167 hasConcept C13736549 @default.
- W2888293167 hasConcept C154945302 @default.
- W2888293167 hasConcept C156273044 @default.
- W2888293167 hasConcept C41008148 @default.
- W2888293167 hasConceptScore W2888293167C104114177 @default.
- W2888293167 hasConceptScore W2888293167C11413529 @default.
- W2888293167 hasConceptScore W2888293167C127413603 @default.
- W2888293167 hasConceptScore W2888293167C13736549 @default.
- W2888293167 hasConceptScore W2888293167C154945302 @default.
- W2888293167 hasConceptScore W2888293167C156273044 @default.
- W2888293167 hasConceptScore W2888293167C41008148 @default.
- W2888293167 hasLocation W28882931671 @default.
- W2888293167 hasOpenAccess W2888293167 @default.
- W2888293167 hasPrimaryLocation W28882931671 @default.
- W2888293167 hasRelatedWork W1558201153 @default.
- W2888293167 hasRelatedWork W1969479357 @default.
- W2888293167 hasRelatedWork W1998460375 @default.
- W2888293167 hasRelatedWork W2150778143 @default.
- W2888293167 hasRelatedWork W2782992839 @default.
- W2888293167 hasRelatedWork W2888293167 @default.
- W2888293167 hasRelatedWork W4242066305 @default.
- W2888293167 hasRelatedWork W4249572945 @default.
- W2888293167 hasRelatedWork W638866252 @default.
- W2888293167 hasRelatedWork W649710094 @default.
- W2888293167 hasVolume "76" @default.
- W2888293167 isParatext "false" @default.
- W2888293167 isRetracted "false" @default.
- W2888293167 magId "2888293167" @default.
- W2888293167 workType "article" @default.