  The World Robot Summit (WRS) 2020 Assembly Challenge is designed to allow
teams to demonstrate how one can build flexible, robust systems for assembly of
machined objects. We present our approach to assembly based on integration of
machine vision, robust planning and execution using behavior trees and a
hierarchy of recovery strategies to ensure robust operation. Our system was
selected for the WRS 2020 Assembly Challenge finals based on robust performance
in the qualifying rounds. We present the systems approach adopted for the
challenge.
