Adaptation to robot failures and shape change in decentralized

Author(s)
Rus, Daniela L.; Yun, Seungkook
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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.
Date issued
2010-07
URI
http://hdl.handle.net/1721.1/59529
Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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
Other identifiers
INSPEC Accession Number: 11430994
ISBN
978-1-4244-5038-1
ISSN
1050-4729
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