Constraint-aware coordinated construction of generic structures
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Rus_Constraint-aware.pdf
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1.81 MB
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Author(s)
Stein, David B.
Schoen, T. Ryan
Rus, Daniela L.
Date Issued
December 2011
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems 2011 (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Stein, David, T. Ryan Schoen, and Daniela Rus. “Constraint-aware Coordinated Construction of Generic Structures.” IEEE, 2011. 4803–4810.
Version
Author's final manuscript
Abstract
This paper presents a constraint-aware decentralized approach to construction with teams of robots. We present an extension to existing work on a distributed controller for robotic construction of simple structures. Our previous work described a set of adaptive algorithms for constructing truss structures given a target geometry using continuous and graph-based equal-mass partitioning [1], [2]. Using this work as a foundation, we present an algorithm which performs construction tasks and conforms to physical constraints while considering those constraints to parallelize tasks. This is accomplished by defining a mass function which reflects the priority of part placement and prevents physically impossible states. This mass function generates a set of pointmasses in ℝn, and we present a novel algorithm for finding a locally optimal, equal-mass, convex tessellation of such a set.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. School of Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://doi.org/10.1109/IROS.2011.6048848
