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- W4200464294 abstract "In this paper, we explore the problem of task-consistent path planning for printing-in-motion via Mobile Manipulators (MM). MM offer a potentially unlimited planar workspace and flexibility for print operations. However, most existing methods have only mobility to relocate an arm which then prints while stationary. In this paper we present a new fully autonomous path planning approach for mobile material deposition. We use a modified version of Rapidly-exploring Random Tree Star (RRT*) algorithm, which is informed by a constrained Inverse Reachability Map (IRM) to ensure task consistency. Collision avoidance and end-effector reachability are respected in our approach. Our method also detects when a print path cannot be completed in a single execution. In this case it will decompose the path into several segments and reposition the base accordingly." @default.
- W4200464294 created "2021-12-31" @default.
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- W4200464294 date "2021-09-27" @default.
- W4200464294 modified "2023-09-29" @default.
- W4200464294 title "Task-Consistent Path Planning for Mobile 3D Printing" @default.
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- W4200464294 doi "https://doi.org/10.1109/iros51168.2021.9635916" @default.
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