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Jan Baumgärtner

4 accepted papers

2026

From CAD to POMDP: Probabilistic Planning for Robotic Disassembly of End-Of-Life Products

Jan Baumgärtner, Malte Hansjosten, David Hald, Adrian Hauptmannl, Alexander Puchta, Jürgen Fleischer
ICRA 2026poster

To support the circular economy, robotic systems must not only assemble new products but also disassemble end-of-life (EOL) ones for reuse, recycling, or safe disposal. Existing approaches to disassembly sequence planning often assume deterministic and fully observable product models, yet real EOL p…

Cited by 0Source ↗PDF ↗Scholar ↗
2024

Generalized Partially Destructive Disassembly Planning for Robotic Disassembly

Malte Hansjosten, Jan Baumgärtner, Jürgen Fleischer
ICRA 2024poster

While robotic assembly is a well researched topic, recycling and disassembly of products are also becoming ever more important as we transition to a more sustainable economy. In disassembly, we are typically only interested in a subset of product parts, which opens the possibility of using destructi…

Cited by 1Source ↗Scholar ↗
2024

One Problem, One Solution: Unifying Robot Design and Cell Layout Optimization

Jan Baumgärtner, Alexander Puchta, Jürgen Fleischer
IROS 2024poster

The task-specific optimization of robotic systems has since the inception of the field been divided into the optimization of the robot and the optimization of the layout of its workstations. In this letter, we argue that these two problems are interdependent and should be treated as such. To this en…

Cited by 3Source ↗Scholar ↗