Adaptation to robot failures and shape change in decentralized
Author(s)Rus, Daniela L.; Yun, Seungkook
MetadataShow full item record
Our prior work  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.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
IEEE International Conference on Robotics and Automation (ICRA), 2010
Institute of Electrical and Electronics Engineers
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.
Final published version
INSPEC Accession Number: 11430994