Coordinating Construction of Truss Structures using Distributed Equal-mass Partitioning

• Main Authors: Yun, Seungkook (Contributor), Schwager, Mac (Contributor), Rus, Daniela L. (Contributor)
• Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor)
• Format: Article
• Language: English
• Published: Institute of Robotics and Intelligent Systems, 2011-05-04T20:18:18Z.
• Subjects: Article
• Online Access: Get fulltext

This paper presents a decentralized algorithm for the coordinated assembly of 3D objects that consist of multiple types of parts, using a networked team of robots.We describe the algorithm and analyze its stability and adaptation properties. We instantiate the algorithm to building truss-like objects using rods and connectors. We implement the algorithm in simulation and show results for constructing 2D and 3D parts. Finally, we discuss briefly preliminary hardware results.
Boeing Company
National Science Foundation (U.S.) (Grant IIS-0513755) (Grant IIS-0426838) (Grant CNS-0520305) (Grant CNS-0707601)
Micro AutonomousConsortium Systems and Technology
United States. Army Research Office. Multidisciplinary University Research Initiative. Scalable Swarms of Autonomous Robots and Mobile Sensors Project (Grant W911NF-05-1-0219)
National Science Foundation (U.S.). Office of Emerging Frontiers in Research and Innovation
Samsung Scholarship Foundation