Constraint-aware coordinated construction of generic structures

Abstract

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 R n , and we present a novel algorithm for finding a locally optimal, equalmass, convex tessellation of such a set.

Multi-scale assembly with robot teams

“…These systems provide impressive examples of multi-robot coordination in building structures that are much larger than the robots. Heger and Singh (2010) present a planner for the assembly of complex lattice structures, and in McEvoy et al (2014), Stein et al (2011) and Yun and Rus (2010) planners which take into account the parallelization of the assembly task and the stability of truss structures are presented. While these systems focus on using identical building blocks, e.g.…”

Modular and Domain-guided Multi-robot Planning for Assembly Processes

“…In the field of manipulation and assembly planning, different approaches have been described, including topics such as handing over objects from one robot to another (Koga and Latombe, 1994) and finding appropriate assembly sequences to build desired structures (Thomas and Wahl, 2001). Additionally, such topics have been addressed with mobile robots, where task allocation based on spatial deliberations play an important role (Stein et al, 2011;Schoen and Rus, 2013; Knepper et al, 2013).…”

Intelligent Autonomous Systems 13

“…Previous works in assembly using robots mainly focused on planning robot's motion and managing resources. In [12], the authors built a top-level construction algorithm to manage a team of mobile robots to construct truss structures. Robots are specialized in two functions: assembling and delivering.…”