2026-09-19T02:22:13Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/612792022-01-13T07:54:29Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Daniela Rus.
Bolger, Adrienne (Adrienne M.)
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2011-02-23T14:40:52Z
2011-02-23T14:40:52Z
2010
2010
http://hdl.handle.net/1721.1/61279
702366444
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 81-82).
In this thesis, we develop a distributed mobile robot platform to deliver parts around a model construction site. The platform's robots, specialized into delivery robots and assembly robots, use a distributed coverage algorithm to determine where parts should be delivered. The robots consist of a mobility platform (iRobot iCreate), a manipulation platform (Crustcrawler arm), and an IR communication system to enable recognition and grasping of parts. To control the robot hardware, we implemented software in Java. The delivery robots use IR communication to find parts at a supply station. After communicating over UDP multicast with assembly station robots, the delivery robots deliver parts to the assembly robots based on their coverage control algorithm. To evaluate the algorithm, we constructed a hardware system of 4 robots, connected to a VICON motion capture system for localization. We discuss the results of successful hardware and software testing of the system as a method of delivering parts around a construction site, and we discuss future plans to use the platform to assemble parts once delivered.
by Adrienne Bolger.
M.Eng.
83, [10] p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Coordinated part delivery using distributed planning
Coordinated part delivery UDP
Thesis
application/pdf
Publication
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unknown
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<Abstract>In this thesis, we develop a distributed mobile robot platform to deliver parts around a model construction site. The platform's robots, specialized into delivery robots and assembly robots, use a distributed coverage algorithm to determine where parts should be delivered. The robots consist of a mobility platform (iRobot iCreate), a manipulation platform (Crustcrawler arm), and an IR communication system to enable recognition and grasping of parts. To control the robot hardware, we implemented software in Java. The delivery robots use IR communication to find parts at a supply station. After communicating over UDP multicast with assembly station robots, the delivery robots deliver parts to the assembly robots based on their coverage control algorithm. To evaluate the algorithm, we constructed a hardware system of 4 robots, connected to a VICON motion capture system for localization. We discuss the results of successful hardware and software testing of the system as a method of delivering parts around a construction site, and we discuss future plans to use the platform to assemble parts once delivered.</Abstract>
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