Group theoretic approach to assembly planning

Robin J. Popplestone, Yanxi Liu, Rich Weiss

Research output: Contribution to journalArticlepeer-review

20 Scopus citations


High-level robotic assembly planning is concerned with how bodies fit together and how spatial relationships among bodies are established over time. To generate an assembly task specification for robots, it is necessary to represent the geometric shapes of the assembly components in a computational form. The interaction between algebra and geometry within a group theoretic framework has provided a unified computational treatment of reasoning about how parts with multiple contacting features fit together.

Original languageEnglish (US)
Pages (from-to)82-97
Number of pages16
JournalAI Magazine
Issue number1
StatePublished - Mar 1990

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence


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