Adaptation to robot failures and shape change in decentralized
Name
Seung-kook-2010-Adaptation to robot failures and shape change in decentralized.pdf
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729.58 KB
Format
Adobe PDF
Checksum (MD5)
06175438a5fa7af9419e52696a62278d
Author(s)
Rus, Daniela L.
Yun, Seungkook
Date Issued
July 2010
Journal
IEEE International Conference on Robotics and Automation (ICRA), 2010
Publisher
Institute of Electrical and Electronics Engineers
Citation
Seung-kook Yun, and D. Rus. “Adaptation to robot failures and shape change in decentralized construction.” Robotics and Automation (ICRA), 2010 IEEE International Conference on. 2010. 2451-2458.©2010 Institute of Electrical and Electronics Engineers.
Version
Final published version
Abstract
Our prior work [1] presented a decentralized algorithm for coordinating the construction of a truss structure out of multiple components. In this paper, we discuss adaptation in decentralized construction. We partition construction in two tasks, tool delivery and assembly. Each task is performed by a networked team of specialized robots. We analyze the performance of the algorithms using the balls into bins problem, and show their adaptation to failure of robots, dynamic constraints, multiple types of elements and reconfiguration. The algorithms can be used for general types of source elements.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2010.5509737
