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|a Yun, Seungkook
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|a Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
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|a Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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|a Rus, Daniela L.
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|a Yun, Seungkook
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|a Schwager, Mac
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|a Rus, Daniela L.
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|a Schwager, Mac
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|a Rus, Daniela L.
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|a Coordinating Construction of Truss Structures using Distributed Equal-mass Partitioning
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|b Institute of Robotics and Intelligent Systems,
|c 2011-05-04T20:18:18Z.
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|z Get fulltext
|u http://hdl.handle.net/1721.1/62587
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|a 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.
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|a Boeing Company
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|a National Science Foundation (U.S.) (Grant IIS-0513755) (Grant IIS-0426838) (Grant CNS-0520305) (Grant CNS-0707601)
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|a Micro AutonomousConsortium Systems and Technology
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|a United States. Army Research Office. Multidisciplinary University Research Initiative. Scalable Swarms of Autonomous Robots and Mobile Sensors Project (Grant W911NF-05-1-0219)
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|a National Science Foundation (U.S.). Office of Emerging Frontiers in Research and Innovation
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|a Samsung Scholarship Foundation
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|a en_US
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|a Article
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|t International Symposium on Robotics Research (ISRR 2009)
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