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Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots

dc.contributor.authorBolger, Adrienne M.
dc.contributor.authorFaulkner, Matt
dc.contributor.authorStein, David B.
dc.contributor.authorWhite, Lauren L.
dc.contributor.authorYun, Seung-kook
dc.contributor.authorRus, Daniela L.
dc.date.accessioned2012-09-06T15:43:19Z
dc.date.available2012-09-06T15:43:19Z
dc.date.issued2010-12
dc.date.submitted2010-10
dc.identifier.isbn978-1-4244-6674-0
dc.identifier.issn2153-0858
dc.identifier.urihttp://hdl.handle.net/1721.1/72544
dc.description.abstractOur 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.en_US
dc.description.sponsorshipBoeing Companyen_US
dc.description.sponsorshipNational Science Foundation (U.S.).en_US
dc.description.sponsorshipNational Science Foundation (U.S.). (Grant number IIS-0426838)en_US
dc.description.sponsorshipNational Science Foundation (U.S.). Office of Emerging Frontiers in Research and Innovation (Grant number 0735953)en_US
dc.description.sponsorshipUnited States. Army Research Office. Multidisciplinary University Research Initiative. Swarms of Autonomous Robots and Mobile Sensors Project (Grant number N0014-09-1051)en_US
dc.description.sponsorshipUnited States. Multidisciplinary University Research Initiative. Antidote Project (Grant number 138802)en_US
dc.description.sponsorshipUnited States. Army Research Office. Multidisciplinary University Research Initiative. Scalable (Grant number 544252)en_US
dc.description.sponsorshipSamsung Scholarship Foundationen_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/IROS.2010.5651495en_US
dc.rightsArticle is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.en_US
dc.sourceIEEEen_US
dc.titleExperiments in Decentralized Robot Construction with Tool Delivery and Assembly Robotsen_US
dc.typeArticleen_US
dc.identifier.citationBolger, 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 IEEEen_US
dc.contributor.departmentLincoln Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.contributor.approverRus, Daniela L.
dc.contributor.mitauthorFaulkner, Matt
dc.contributor.mitauthorStein, David B.
dc.contributor.mitauthorWhite, Lauren L.
dc.contributor.mitauthorYun, Seung-kook
dc.contributor.mitauthorRus, Daniela L.
dc.contributor.mitauthorBolger, Adrienne M.
dc.relation.journalIEEE/RSJ International Conference on Intelligent Robots and Systems 2010 (IROS)en_US
dc.eprint.versionFinal published versionen_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
dspace.orderedauthorsBolger, A; Faulkner, M; Stein, D; White, L; Seung-kook Yun, L; Rus, Den
dc.identifier.orcidhttps://orcid.org/0000-0001-5473-3566
mit.licensePUBLISHER_POLICYen_US
mit.metadata.statusComplete


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