A High-Level Discrete Model for the Analysis of Robotic Assembly of Large-Scale Structures

George R Burns; Arthur G Richards; Lucy Berthoud

A High-Level Discrete Model for the Analysis of Robotic Assembly of Large-Scale Structures

George R Burns, Arthur G Richards, Lucy Berthoud

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

Abstract

As the size and mass of orbital structures increase, recent research into the testing and development of technology for assembling these large structures has led to the development of novel techniques. One such method involves walking robots and strategically placed logistical depots. This paper describes the development of a high-level discrete model with two distribution algorithms for the logistical depots and two competing assembly sequence planning strategies. The results show that the alteration of different variables and assembly strategies significantly influences assembly efficiency, with some assembly strategies specifically suiting certain metrics. It also appears that depot distribution has a more complex relationship with the optimisation of the assembly process.

Original language	English
Title of host publication	International Conference on Space Robotics
Place of Publication	Sendai Japan
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Publication status	Accepted/In press - 3 Dec 2025
Event	The International Conference on Space Robotics: iSpaRo 2026 - Cologne, Germany, Cologne, Germany Duration: 3 Nov 2026 → 6 Nov 2026 https://dlr.expert/i-sairas-isparo2026/

Publication series

Name	Proceedings of the International Conference on Space Robotics

Conference

Conference	The International Conference on Space Robotics
Country/Territory	Germany
City	Cologne
Period	3/11/26 → 6/11/26
Internet address	https://dlr.expert/i-sairas-isparo2026/

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@inproceedings{51f462a8aedc4a11b09f6b432ce6a3da,

title = "A High-Level Discrete Model for the Analysis of Robotic Assembly of Large-Scale Structures",

abstract = "As the size and mass of orbital structures increase, recent research into the testing and development of technology for assembling these large structures has led to the development of novel techniques. One such method involves walking robots and strategically placed logistical depots. This paper describes the development of a high-level discrete model with two distribution algorithms for the logistical depots and two competing assembly sequence planning strategies. The results show that the alteration of different variables and assembly strategies significantly influences assembly efficiency, with some assembly strategies specifically suiting certain metrics. It also appears that depot distribution has a more complex relationship with the optimisation of the assembly process.",

author = "Burns, \{George R\} and Richards, \{Arthur G\} and Lucy Berthoud",

year = "2025",

month = dec,

day = "3",

language = "English",

series = "Proceedings of the International Conference on Space Robotics",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

booktitle = "International Conference on Space Robotics",

address = "United States",

note = "The International Conference on Space Robotics : iSpaRo 2026 ; Conference date: 03-11-2026 Through 06-11-2026",

url = "https://dlr.expert/i-sairas-isparo2026/",

}

Burns, GR , Richards, AG & Berthoud, L 2025, A High-Level Discrete Model for the Analysis of Robotic Assembly of Large-Scale Structures. in International Conference on Space Robotics. Proceedings of the International Conference on Space Robotics, Institute of Electrical and Electronics Engineers (IEEE), Sendai Japan, The International Conference on Space Robotics, Cologne, Germany, 3/11/26.

A High-Level Discrete Model for the Analysis of Robotic Assembly of Large-Scale Structures. / Burns, George R ; Richards, Arthur G ; Berthoud, Lucy.
International Conference on Space Robotics. Sendai Japan: Institute of Electrical and Electronics Engineers (IEEE), 2025. (Proceedings of the International Conference on Space Robotics).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - A High-Level Discrete Model for the Analysis of Robotic Assembly of Large-Scale Structures

AU - Burns, George R

AU - Richards, Arthur G

AU - Berthoud, Lucy

PY - 2025/12/3

Y1 - 2025/12/3

N2 - As the size and mass of orbital structures increase, recent research into the testing and development of technology for assembling these large structures has led to the development of novel techniques. One such method involves walking robots and strategically placed logistical depots. This paper describes the development of a high-level discrete model with two distribution algorithms for the logistical depots and two competing assembly sequence planning strategies. The results show that the alteration of different variables and assembly strategies significantly influences assembly efficiency, with some assembly strategies specifically suiting certain metrics. It also appears that depot distribution has a more complex relationship with the optimisation of the assembly process.

AB - As the size and mass of orbital structures increase, recent research into the testing and development of technology for assembling these large structures has led to the development of novel techniques. One such method involves walking robots and strategically placed logistical depots. This paper describes the development of a high-level discrete model with two distribution algorithms for the logistical depots and two competing assembly sequence planning strategies. The results show that the alteration of different variables and assembly strategies significantly influences assembly efficiency, with some assembly strategies specifically suiting certain metrics. It also appears that depot distribution has a more complex relationship with the optimisation of the assembly process.

M3 - Conference Contribution (Conference Proceeding)

T3 - Proceedings of the International Conference on Space Robotics

BT - International Conference on Space Robotics

PB - Institute of Electrical and Electronics Engineers (IEEE)

CY - Sendai Japan

T2 - The International Conference on Space Robotics

Y2 - 3 November 2026 through 6 November 2026

ER -

A High-Level Discrete Model for the Analysis of Robotic Assembly of Large-Scale Structures

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