Coordinating Construction of Truss Structures using Distributed Equal-mass Partitioning
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Rus_Coordinating Construction.pdf
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Author(s)
Yun, Seungkook
Schwager, Mac
Rus, Daniela L.
Date Issued
September 2009
Journal
International Symposium on Robotics Research (ISRR 2009)
Publisher
Institute of Robotics and Intelligent Systems
Citation
Yun, Seung-kook, Mac Schwager and Daniela Rus. "Coordinating Construction of Truss Structures using Distributed Equal-mass Partitioning" International Symposium on Robotics Research (ISRR 2009) Aug. 31-Sept. 3, 2009.
Version
Author's final manuscript
Abstract
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.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
http://www.isrr2009.ethz.ch/proceedings.html
