Fig. 8
From: Integrated assembly and motion planning using regrasp graphs
Two failure cases during the repeated graph building and recursive searching. These two cases use the first and second elements in the candidate assembly sequence of the two objects shown in Fig. 2 to build the regrasp graphs and do motion planning. Both of them failed since there are no accessible grasps to place down the second object to its goal states. After each failure, the planner incrementally switches to different candidates