A Qualitative Discretization for Two-Body Contacts

Mukerjee, Amitabha; Agarwal, Manish; Bhatia, Praveen

A Qualitative Discretization for Two-Body Contacts

Amitabha Mukerjee, Manish Agarwal, Praveen Bhatia

Download BibTeX Cite

Proceedings of the Fourteenth International Joint Conference on Artificial Intelligence. Knowledge Representation. Pages 915-922.

Abstract

In this work we use contact alignments as qualitative landmarks to discretize the relative motion between two 3D objects. We use assembly planning as a sample domain, and address the question of obtaining the assembly blocking graphs from the geometry and the motion constraints. Starting from a geometrical description of the objects we characterize contacts involving topologically distinct feature sets, called contact formations (CF), and obtain a qualitative decomposition of the configuration space based on CFs. We show how standard algorithms for finding the configurationspace routinely discard CF information, and how these can be extracted at no additional computational cost. Finally we show how CFs can be used to generate assembly solutions and for correcting jamming and other assembly errors.

Amitabha Mukerjee, Manish Agarwal, and Praveen Bhatia. 1995. A Qualitative Discretization for Two-Body Contacts. In Proceedings of the Fourteenth International Joint Conference on Artificial Intelligence, IJCAI-95. IJCAI, 915–922. https://ijcai.org/proceedings/1995/119

@inproceedings{ijcai1995p119,
  title     = {A Qualitative Discretization for Two-Body Contacts},
  author    = {Mukerjee, Amitabha and Agarwal, Manish and Bhatia, Praveen},
  booktitle = {Proceedings of the Fourteenth International Joint Conference on
               Artificial Intelligence, {IJCAI-95}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Chris S. Mellish},
  pages     = {915--922},
  year      = {1995},
  note      = {Knowledge Representation},
  url       = {https://ijcai.org/proceedings/1995/119},
}

TY  - CPAPER
TI  - A Qualitative Discretization for Two-Body Contacts
AU  - Mukerjee, Amitabha
AU  - Agarwal, Manish
AU  - Bhatia, Praveen
T2  - Proceedings of the Fourteenth International Joint Conference on Artificial Intelligence, IJCAI-95
PB  - International Joint Conferences on Artificial Intelligence
PY  - 1995
SP  - 915
EP  - 922
UR  - https://ijcai.org/proceedings/1995/119
ER  -