@mastersthesis { Jai2021,
     author        = { Satish Jai },
     title         = { Autonomous Assembly of Pre-Defined Structures with a Robotic Arm Using Known Objects Detected in the Environment },
     month         = { June },
     year          = { 2021 },
     school        = { Paderborn University },
     type          = { Master's thesis },
     abstract      = { The ability to assemble objects autonomously has a wide range of applications in the field of robotics. From performing industrial pick and place tasks to building a support structure during a disaster rescue operation. This thesis aimed at developing an autonomous system that can build predefined structures from simple and regular shaped objects. The system mainly consists of three subsystems: detection, arm control, and control unit. The detection system processes the 3D input data from a depth sensor camera to identify the objects of interest. Detection involves sub-processes like extraction of meaningful clusters, determining the 6D pose, and classification of the objects. The information of identified objects is further processed by a control unit. The control unit acts as a link between detection and arm control and is involved in assembly planning. The assembly planning is done using the information of the detected objects along with a construction plan which provides details of the objects that have to be used for a particular assembly. The assembly plan is executed through a state machine that communicates with the arm and takes control of different states of the assembly process. The current implementation integrates a real and a simulated arm. The simulated arm was used to perform the initial tests of the assembly system in a Gazebo simulation environment. The real-world evaluation and tests were done using a real RVM1 arm. The evaluation of the entire assembly system is done by verifying the detected object’s pose and by determining the correctness of object’s pose in an assembled structure.
 }
}