Hierarchical planning for space-truss assembly

Construction, repair, and maintenance of space-based structures will require extensive planning of operations in order to effectively carry out these tasks. This chapter describes a hierarchy of planning algorithms focusing on space-truss assembly as a specific application domain. This planning paradigm generates a sequence of feasible assembly operations required to build a space-truss structure, and provides the motion plans for a robot arm to carry out these operations. In this chapter, the two planning levels: task planning of assembly sequences, and path planning of robot motions, are described in detail. These planning algorithms have been implemented and evaluated using existing space-truss designs, and are being integrated into the RPI-CIRSSE Testbed environment.

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