{"id":"https://openalex.org/W4405785703","doi":"https://doi.org/10.1109/iros58592.2024.10801992","title":"Coordinated Multi-arm 3D Printing using Reeb Decomposition","display_name":"Coordinated Multi-arm 3D Printing using Reeb Decomposition","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785703","doi":"https://doi.org/10.1109/iros58592.2024.10801992"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801992","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081825419","display_name":"Jayant Khatkar","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jayant Khatkar","raw_affiliation_strings":["University of Technology,The Robotics Institute,Sydney,Australia"],"affiliations":[{"raw_affiliation_string":"University of Technology,The Robotics Institute,Sydney,Australia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042792890","display_name":"Fouad Sukkar","orcid":"https://orcid.org/0000-0002-7041-5151"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fouad Sukkar","raw_affiliation_strings":["University of Technology,The Robotics Institute,Sydney,Australia"],"affiliations":[{"raw_affiliation_string":"University of Technology,The Robotics Institute,Sydney,Australia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047821033","display_name":"Lee Clemon","orcid":"https://orcid.org/0000-0003-3808-7749"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee Clemon","raw_affiliation_strings":["University of Technology,The Robotics Institute,Sydney,Australia"],"affiliations":[{"raw_affiliation_string":"University of Technology,The Robotics Institute,Sydney,Australia","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063192197","display_name":"Ramgopal R. Mettu","orcid":"https://orcid.org/0000-0001-9479-9156"},"institutions":[{"id":"https://openalex.org/I114832834","display_name":"Tulane University","ror":"https://ror.org/04vmvtb21","country_code":"US","type":"education","lineage":["https://openalex.org/I114832834"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ramgopal Mettu","raw_affiliation_strings":["Tulane University,Department of Computer Science,USA"],"affiliations":[{"raw_affiliation_string":"Tulane University,Department of Computer Science,USA","institution_ids":["https://openalex.org/I114832834"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5081825419"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26536735,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14212","last_page":"14218"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9782999753952026,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6601090431213379},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.6589704751968384},{"id":"https://openalex.org/keywords/3d-printing","display_name":"3D printing","score":0.499849796295166},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.46811312437057495},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36246442794799805},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3600160479545593},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1373058259487152}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6601090431213379},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.6589704751968384},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.499849796295166},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.46811312437057495},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36246442794799805},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3600160479545593},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1373058259487152},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801992","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W2002211861","https://openalex.org/W2129668160","https://openalex.org/W2152358681","https://openalex.org/W2302965792","https://openalex.org/W2330518642","https://openalex.org/W2415791156","https://openalex.org/W2737354767","https://openalex.org/W2793435880","https://openalex.org/W2903765850","https://openalex.org/W2908825705","https://openalex.org/W2964201089","https://openalex.org/W2977990529","https://openalex.org/W2982925393","https://openalex.org/W3049331511","https://openalex.org/W3082653571","https://openalex.org/W3089605683","https://openalex.org/W3130930861","https://openalex.org/W3203549998","https://openalex.org/W4312735514","https://openalex.org/W4313057551","https://openalex.org/W6803462685","https://openalex.org/W6842376011"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Robotic":[0],"additive":[1],"manufacturing":[2],"has":[3,21],"the":[4,28,79,85,192],"potential":[5,20],"to":[6,27,57,67,101,126,150,164,184],"replace":[7],"traditional":[8],"production":[9],"techniques":[10],"with":[11,118,224],"more":[12,177,235],"flexible,":[13],"capable":[14],"and":[15,37,209,237],"efficient":[16],"methods.":[17],"However,":[18],"this":[19,47],"not":[22],"yet":[23],"been":[24],"realized":[25],"due":[26,183],"intrinsic":[29],"physical":[30],"limitations":[31],"of":[32,73,78,98,108,134,143,180,205],"extruders.":[33,45],"Thus":[34],"improved":[35],"speed":[36],"efficiency":[38],"lies":[39],"in":[40,61,94,111,116,145,231],"coordinated":[41],"fabrication":[42],"by":[43],"multiple":[44,55,157],"In":[46,65],"paper,":[48],"we":[49,70],"propose":[50],"a":[51,62,74,119,127,132,140,167],"framework":[52],"for":[53,156,194,222],"utilizing":[54],"extruders":[56],"collaboratively":[58],"fabricate":[59],"objects":[60],"shared":[63],"workspace.":[64],"contrast":[66],"related":[68],"work,":[69],"make":[71],"use":[72],"Reeb":[75],"decomposition":[76],"method":[77,138,161],"input":[80],"model,":[81],"which":[82,195,227],"dramatically":[83],"reduces":[84],"search":[86],"space":[87],"over":[88,131,207,211],"feasible":[89],"toolpaths":[90],"but":[91],"still":[92],"results":[93,236],"highly":[95],"effective":[96],"allocation":[97],"model":[99],"components":[100],"each":[102],"extruder.":[103],"We":[104,214],"demonstrate":[105,215],"superior":[106],"performance":[107],"our":[109,137,160,181,199,217],"approach":[110,130,200,218],"simulation":[112],"as":[113,115],"well":[114],"hardware":[117],"two-robot":[120],"arm":[121],"extruder":[122,129,146,232],"system.":[123],"When":[124,148],"compared":[125,149],"single":[128],"benchmark":[133,182],"14":[135],"models,":[136],"achieves":[139,201],"mean":[141,202],"improvement":[142],"72%":[144],"utilization.":[147,233],"two":[151],"additional":[152],"toolpath":[153,169,189],"planning":[154],"methods":[155,174,197],"extruders,":[158],"only":[159],"is":[162,219],"able":[163],"successfully":[165],"complete":[166],"valid":[168],"on":[170,176],"all":[171,196],"models.":[172],"Prior":[173],"fail":[175],"than":[178],"half":[179],"reaching":[185],"deadlocked":[186],"states":[187],"during":[188],"planning.":[190],"On":[191],"models":[193,223],"succeed,":[198],"utilization":[203],"improvements":[204,230],"132%":[206],"zone-blocking":[208],"12%":[210],"contour":[212],"greedy.":[213],"that":[216],"also":[220],"suitable":[221],"non-planar":[225],"slicings,":[226],"yield":[228],"further":[229],"For":[234],"information":[238],"see:":[239],"https://sites.google.com/view/multi-arm-reeb.":[240]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
