Scalable Compiler for the TERMES Distributed Assembly System

Deng, Yawen; Hua, Yiwen; Napp, Nils; Petersen, Kirstin

doi:10.1007/978-3-030-05816-6_9

Cited by 6 publications

(6 citation statements)

References 16 publications

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“…One common approach to planning motion paths is to provide high-level spatial organization, where collision and conflict avoidance between robots are accomplished by specifying zones and motion directions. These can be handcrafted to fit a particular scenario (15,24) or automatically compiled (14,38). Structuring of the workspace into different regions is also used to enable human-robot collaboration in general assembly tasks (39).…”

Section: Degree Of Centralization and Concurrencymentioning

confidence: 99%

“…Notable exceptions that give characterizations of buildable structures are systems for special cubic structures (13) and simply connected structures (37). Others give incomplete characterizations, such as adjacency conditions between walls (14,38), that can be used to aid design. Even when formal characterizations exist, the focus is often on the capabilities of complete CRC systems.…”

Section: Representation Of Agents Actions States and Goalsmentioning

confidence: 99%

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A review of collective robotic construction

et al. 2019

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The increasing need for safe, inexpensive, and sustainable construction, combined with novel technological enablers, has made large-scale construction by robot teams an active research area. Collective robotic construction (CRC) specifically concerns embodied, autonomous, multirobot systems that modify a shared environment according to high-level user-specified goals. CRC tightly integrates architectural design, the construction process, mechanisms, and control to achieve scalability and adaptability. This review gives a comprehensive overview of research trends, open questions, and performance metrics.

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Section: Degree Of Centralization and Concurrencymentioning

confidence: 99%

Section: Representation Of Agents Actions States and Goalsmentioning

confidence: 99%

A review of collective robotic construction

et al. 2019

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“…This work relates most closely to the literature on robotic self-assembly, whose aim is to produce a correct and deadlock-free assembly plan for constructing a shape, either made from passive materials brought by swarm robotic units [18,3], or from modular robotic units themselves as in our case [16,8,19]. In the second case, self-assembly approaches usually rely on a set of construction rules that provide a feasible and deadlock-free assembly plan to construct a shape.…”

Section: Related Workmentioning

confidence: 99%

“…It can then be followed by the robotic units taking part in the construction of the target shape. This is usually done through a virtual disassembly of the target shape, as is the case with the compiler for the TERMES swarm systems [18,3], which has been recently applied generically to modular robotic self-assembly in [8]. In other instances, such as in [19], the exact order of the construction of the shape is pre-defined by a human operator.…”

Section: Related Workmentioning

confidence: 99%

3D Coating Self-Assembly for Modular Robotic Scaffolds

Thalamy¹,

Piranda²,

Bourgeois³

2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper addresses the self-reconfiguration problem in large-scale modular robots for the purpose of shape formation for object representation. It aims to show that this process can be accelerated without compromising on the visual aspect of the final object, by creating an internal skeleton of the shape using the previously introduced sandboxing and scaffolding techniques, and then coating this skeleton with a layer of modules for higher visual fidelity.We discuss the challenges of the coating problem, introduce a basic method for constructing the coating of a scaffold layer by layer, and show that even with a straightforward algorithm, our scaffolding and coating combo uses much fewer modules than dense shapes and offers attractive reconfiguration times. Finally, we show that it could be a strong alternative to the construction of dense shapes using traditional selfreconfiguration algorithms.

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“…In addition to the already cited AMAS [14], TERMES [16] pioneered a concept in which a wheg-equipped robot, co-designed with a convex block, constructs 2.5D structures by block deposition and removal. The robot follows a plan calculated by an optimization algorithm [17] with the ability to recover from placing errors. Bill-E [18] is another inchworm robot designed to navigate and build versatile 3D structures composed of special blocks that latch magnetically, rather than mechanically as in AMAS and SMAC.…”

Section: Introductionmentioning

confidence: 99%