Coordinating Construction of Truss Structures using Distributed Equal-mass Partitioning
Author(s)Yun, Seungkook; Schwager, Mac; Rus, Daniela L.
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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.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
International Symposium on Robotics Research (ISRR 2009)
Institute of Robotics and Intelligent Systems
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.
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