7 accepted papers
We present a scalable combined localization infrastructure deployment and task planning algorithm for underwater assembly. Infrastructure is autonomously modified to suit the needs of manipulation tasks based on an uncertainty model on the infrastructure’s positional accuracy. Our uncertainty model…
We present the first free-floating autonomous underwater construction system capable of using active bal-lasting to transport cement building blocks efficiently. It is the first free-floating autonomous construction robot to use a paired set of resources: compressed air for buoyancy and a battery fo…
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space velocities, yielding a linear programming formulation that allows…
The most widely used methods for toolpath planning in 3D printing slice the input model into successive 2D layers to construct the toolpath. Unfortunately the methods can incur a substantial amount of wasted motion (i.e., the extruder is moving while not printing). In recent years we have introduced…
The most widely used methods for toolpath planning in fused deposition 3D printing slice the input model into successive 2D layers in order to construct the toolpath. Unfortunately slicing-based methods can incur a substantial amount of wasted motion (i.e., the extruder is moving while not printing)…
Widely-used methods for toolpath planning in fused filament fabrication slice the input 3D model into 2D layers and construct a toolpath. In prior work (ICRA 2016) we gave a simple greedy algorithm that changed this paradigm and constructed the toolpath in 3D by printing local features in their enti…
Fused filament fabrication (FFF) is gaining traction for rapid prototyping and custom fabrication. Existing toolpath generation methods for FFF printers take as input a three-dimensional model of the target object and construct a layered toolpath that will fabricate the object in 2D slices of a chos