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The World Robot Summit (WRS) 2020 Assembly Challenge is designed to allowteams to demonstrate how one can build flexible, robust systems for assembly ofmachined objects. We present our approach to assembly based on integration ofmachine vision, robust planning and execution using behavior trees and ahierarchy of recovery strategies to ensure robust operation. Our system wasselected for the WRS 2020 Assembly Challenge finals based on robust performancein the qualifying rounds. We present the systems approach adopted for thechallenge.

Lessons Learned Developing an Assembly System for WRS 2020 Assembly Challenge