Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots
Name
Rus_Experiments in decentralized.pdf
Size
1.17 MB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Bolger, Adrienne M.
Faulkner, Matt
Stein, David B.
White, Lauren L.
Yun, Seung-kook
Rus, Daniela L.
Date Issued
December 2010
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems 2010 (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Bolger, A et al. “Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots.” IEEE/RSJ International Conference on Intelligent Robots and Systems 2010 (IROS). 5085–5092, Oct 2010. © Copyright 2010 IEEE
Version
Final published version
Abstract
Our prior work presented a decentralized algorithm for coordinating the construction of truss shaped objects out of multiple components (rods and connectors). In this paper, we consider how to transfer the theory to practice, implementing the algorithm to create a decentralized multi robot construction system. The system is composed of mobile manipulators and smarts parts with an embedded communication device. We discuss the delivery and assembly algorithms that comprise this system and the assumptions behind them. We present data from extensive hardware experiments with 4 robots coordinating an assembly task.
MIT Department
Lincoln Laboratory
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
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/IROS.2010.5651495
