Meta-Modeling of Assembly Contingencies and Planning for Repair

按需机器人装配：通过可微几何部件修复

On-Demand Robotic Assembly via Differentiable Geometric Part Repair

本文提出一种端到端自主流水线，结合生成式AI与可微几何修复，实现按需机器人装配，显著提升装配成功率并支持物理构建。

Safe and Uncertainty-Aware Robotic Motion Planning Techniques for Agile On-Orbit Assembly

As access to space and robotic autonomy capabilities move forward, there is simultaneously a growing interest in deploying large, complex space structures to provide new on-orbit capabilities. New space-borne observatories, large orbital outposts, and even futuristic on-orbit manufacturing will be enabled by robotic assembly of space structures using techniques like on-orbit additive manufacturing which can provide flexibility in constructing and even repairing complex hardware. However, the dynamics underlying the robotic assembler during manipulation may operate under inertial uncertainties.…

面向自主制造的大规模多机器人装配规划

Large-Scale Multi-Robot Assembly Planning for Autonomous Manufacturing

针对自主制造中大型机器人集群部署的多项挑战，提出包含布局优化、任务分配等模块的多机器人装配规划完整算法栈，配套开源模拟器，实验验证其可快速生成大规模复杂产品的装配规划。

Motion Planning and Control for On-Orbit Assembly using LQR-RRT* and Nonlinear MPC

Deploying large, complex space structures is of great interest to the modern scientific world as it can provide new capabilities in obtaining scientific, communicative, and observational information. However, many theoretical mission designs contain complexities that must be constrained by the requirements of the launch vehicle, such as volume and mass. To mitigate such constraints, the use of on-orbit additive manufacturing and robotic assembly allows for the flexibility of building large complex structures including telescopes, space stations, and communication satellites. The contribution o…

ReSWARM微重力飞行实验：面向在轨近距离操作的规划、控制与模型估计

The ReSWARM Microgravity Flight Experiments: Planning, Control, and Model Estimation for On-Orbit Close Proximity Operations

本文介绍ReSWARM国际空间站飞行实验，基于Astrobee机器人验证融合动力学感知长时域规划、RATTLE模型学习与鲁棒控制的自主近距离在轨装配方案。