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31 October 1987 Planning Assembly/Disassembly Operations For Space Telerobotics
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Proceedings Volume 0851, Space Station Automation III; (1987)
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States
Space telerobotic systems will perform complex tasks of assembly, disassembly, and repair of space-based equipment. Planning such tasks requires reasoning about the functional, physical, and geometrical properties of the equipment, as well as a representation of the characteristics and capabilities of the manipulators and sensors available for the task. The AND/OR graph [1,2] is a useful approach to representation of feasible assembly/disassembly sequences and provides the basis for search among alternative strategies. In this paper, we describe the use of parts entropy measures as evaluation criteria for search in the AND/OR graph space. This approach leads to candidate task plans which minimize the complexity of intermediate geometrical states.
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Arthur C. Sanderson and Luiz Homem de Mello "Planning Assembly/Disassembly Operations For Space Telerobotics", Proc. SPIE 0851, Space Station Automation III, (31 October 1987);


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