Coordinating Construction of Truss Structures using Distributed Equal-mass Partitioning

Author(s)
Yun, Seungkook; Schwager, Mac; Rus, Daniela L.
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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.
Date issued
2009-09
URI
http://hdl.handle.net/1721.1/62587
Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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
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