{"ID":2875367,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.02146","arxiv_id":"2509.02146","title":"Systematic Evaluation of Trade-Offs in Motion Planning Algorithms for Optimal Industrial Robotic Work Cell Design","abstract":"The performance of industrial robotic work cells depends on optimizing various hyperparameters referring to the cell layout, such as robot base placement, tool placement, and kinematic design. Achieving this requires a bilevel optimization approach, where the high-level optimization adjusts these hyperparameters, and the low-level optimization computes robot motions. However, computing the optimal robot motion is computationally infeasible, introducing trade-offs in motion planning to make the problem tractable. These trade-offs significantly impact the overall performance of the bilevel optimization, but their effects still need to be systematically evaluated. In this paper, we introduce metrics to assess these trade-offs regarding optimality, time gain, robustness, and consistency. Through extensive simulation studies, we investigate how simplifications in motion-level optimization affect the high-level optimization outcomes, balancing computational complexity with solution quality. The proposed algorithms are applied to find the time-optimal kinematic design for a modular robot in two palletization scenarios.","short_abstract":"The performance of industrial robotic work cells depends on optimizing various hyperparameters referring to the cell layout, such as robot base placement, tool placement, and kinematic design. Achieving this requires a bilevel optimization approach, where the high-level optimization adjusts these hyperparameters, and t...","url_abs":"https://arxiv.org/abs/2509.02146","url_pdf":"https://arxiv.org/pdf/2509.02146v1","authors":"[\"G. de Mathelin\",\"C. Hartl-Nesic\",\"A. Kugi\"]","published":"2025-09-02T09:49:21Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}