Contact-based Bounding Volume Hierarchy for Assembly Tasks
Evan Shellshear,Yi Li,Robert Bohlin,Johan S. Carlson,Evan Shellshear,Yi Li,Robert Bohlin,Johan S. Carlson
Path planning of an object which is allowed to be in contact with other objects during assembly process is a significant challenge due to the variety of permitted or forbidden collisions between the distinct parts of the objects to be assembled. In order to put objects together in real-life scenarios, parts of assembled objects may be required to flex, whereas other parts may have to fit exactly. ...
