2026-09-20T00:34:09Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/770782022-01-13T07:54:29Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Daniela Rus.
Schoen, Timothy Ryan
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2013-02-14T19:16:46Z
2013-02-14T19:16:46Z
2012
2012
http://hdl.handle.net/1721.1/77078
825771440
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2012.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 83-85).
In this work, we present a distributed robotic system capable of the efficient assembly and disassembly of complex three-dimensional structures. We introduce algorithms for equitable partitioning of work across robots and for the efficient ordering of assembly or disassembly tasks while taking physical constraints into consideration. We then extend these algorithms to a variety of real-world situations, including when component parts are unavailable or when the time requirements of assembly tasks are non-uniform. We demonstrate the correctness and efficiency of these algorithms through a multitude of simulations. Finally, we introduce a mobile robotic platform and implement these algorithms on them. We present experimental data from this platform on the effectiveness and applicability of our algorithms.
by Timothy Ryan Schoen.
M.Eng.
85 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
copyright. They may be viewed from this source for any purpose, but
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http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Constraint-aware distributed robotic assembly and disassembly
Thesis
application/pdf
Publication
unknown
unknown
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