Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots

Author(s)
Bolger, Adrienne M.; Faulkner, Matt; Stein, David B.; White, Lauren L.; Yun, Seung-kook; ... Show more
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Abstract
Our prior work presented a decentralized algorithm for coordinating the construction of truss shaped objects out of multiple components (rods and connectors). In this paper, we consider how to transfer the theory to practice, implementing the algorithm to create a decentralized multi robot construction system. The system is composed of mobile manipulators and smarts parts with an embedded communication device. We discuss the delivery and assembly algorithms that comprise this system and the assumptions behind them. We present data from extensive hardware experiments with 4 robots coordinating an assembly task.
Date issued
2010-12
URI
http://hdl.handle.net/1721.1/72544
Department
Lincoln Laboratory; Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems 2010 (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Bolger, A et al. “Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots.” IEEE/RSJ International Conference on Intelligent Robots and Systems 2010 (IROS). 5085–5092, Oct 2010. © Copyright 2010 IEEE
Version: Final published version
ISBN
978-1-4244-6674-0
ISSN
2153-0858
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