# Assembly Planning by Subassembly Decomposition Using Blocking Reduction

arXiv: https://arxiv.org/abs/1907.03835 · HTML: https://mlsanity.com/paper/1907.03835/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Jul 2019.

## Built on by (most cited first, 1 of 1)

- [Optimal decision making in robotic assembly and other trial-and-error tasks](https://mlsanity.com/paper/2301.10846/) (2023)

## Abstract (arXiv)

The sequence in which a complex product is assembled directly impacts the ease and efficiency of the assembly process, whether executed by a human or a robot. A sequence that gives the assembler the greatest freedom of movement is therefore desirable. Our main contribution is an expression of obstruction relationships between parts as a disassembly interference graph (DIG). We validate this heuristic by developing a disassembly sequence planner that partitions assemblies in a way that prioritizes access to parts, resulting in plans that are comparable in efficiency to two state-of-the-art assembly methods in terms of total plan length. Using DIG, our method generates successive subassembly decompositions, yielding a tree structure that makes parallization opportunities apparent. Our planner generates viable disassembly plans by minimizing our part blockage measure, and thereby demonstrates that this measure is a valuable addition to the Assembly Sequence Planning toolkit.