| アイテムタイプ |
学術雑誌論文 = Journal Article(1) |
| 公開日 |
2024-05-13 |
| 資源タイプ |
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資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
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資源タイプ |
journal article |
| タイトル |
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|
タイトル |
A Linear-Time Algorithm to Form a Core Convex Shape from an Arbitrary Non-Convex for Automated Fulfillment in Robotic Manipulation Tasks |
|
言語 |
en |
| その他のタイトル |
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その他のタイトル |
A LINEAR-TIME ALGORITHM TO FORM A CORE CONVEX SHAPE FROM AN ARBITRARY NON-CONVEX FOR AUTOMATED FULFILLMENT IN ROBOTIC MANIPULATION TASKS |
|
言語 |
en |
| 言語 |
|
|
言語 |
eng |
| 著者 |
Altaweel, Ahmad
Uehara, Kaito
Almassri, Ahmad
我妻, 広明
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| 抄録 |
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内容記述タイプ |
Abstract |
|
内容記述 |
In the field of robotic manipulation, a fully automatic object fulfillment is an important issue in applications not only for high-density warehouse optimization but also for agricultural automation. In the present study, a formulation of the fulfillment of the maximum object into a given non-convex area was proposed. For minimizing redundant space inside a container during a packing task, the optimization problem is inevitable. Even edges of the target area are clearly detected, the best scenario to fill candidate objects sequentially is not apparently calculated. To deal with this problem, the proposed method is composed of two processes as decomposition of the original non-convex shape and reconstruction of a convex shape, based on theories of computational geometry. For example, it is difficult to judge a point either inside or outside of the area if it is non-convex, while it is easy to judge if the area is convex in the sense of the theorem of computational geometry. The proposed method is initiated by a recursive procedure proposed to decompose non-convex parts until it forms a remaining part to be a convex shape, and then it shifts to the reconstruction of a developing convex shape by adding decomposed parts in the first process, which it will be convex with the maximum size to be a subset of the original non-convex shape. It finally provides the right answer to be a filling area for candidate objects. Since the decomposition and reconstruction will be done in the circulation of removal and attachment of decomposed triangle parts, which takes computational costs of N (the number of nodes) steps as maximum in rotation as a linear-time algorithm. Theoretically, a simple detection algorithm of the maximum fulfillment area can be derived from an arbitrary combination of nodes as 2N. In the computer experiment, the reduction of the computational cost was clearly demonstrated in the comparison of the proposed method and the combinatory method. It contributes to the enhancement of the potential of computational geometry in an effective design of optimization units for robotics working in unstable and dynamic environments. |
|
言語 |
en |
| 書誌情報 |
en : International Journal of Engineering Advanced Research
巻 4,
号 3,
p. 1-11,
発行日 2022-09-07
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| 出版社 |
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出版者 |
Academia Industry Networks |
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言語 |
en |
| URI |
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|
識別子タイプ |
URI |
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関連識別子 |
https://myjms.mohe.gov.my/index.php/ijear/article/view/19531 |
| ISSN |
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収録物識別子タイプ |
EISSN |
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収録物識別子 |
2710-7167 |
| 著作権関連情報 |
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権利情報 |
Copyright (c) 2022 ACADEMIA INDUSTRY NETWORKS. All rights reserved. |
| 出版タイプ |
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出版タイプ |
VoR |
|
出版タイプResource |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
| 査読の有無 |
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|
値 |
yes |
| 研究者情報 |
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|
URL |
https://hyokadb02.jimu.kyutech.ac.jp/html/358_ja.html |
| 論文ID（連携） |
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|
値 |
10430472 |
| 連携ID |
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|
値 |
12242 |
10430472.pdf (433 KB)
