TERMES: An Autonomous Robotic System for Three-Dimensional Collective Construction

Petersen, Kirstin; Nagpal, Radhika; Werfel, Justin

doi:10.15607/rss.2011.vii.035

Cited by 93 publications

(77 citation statements)

References 11 publications

(13 reference statements)

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“…Moreover, researchers frequently point to similarities with work on modular and reconfigurable robots (Shen et al 2003). Real-world experiments in this area tend to be done on simplified versions of the algorithms and setups, with heavy use of simulation to study variations and affirm broader claims, although recent work with real robots presents promising results (Petersen et al 2011).…”

Section: Related Workmentioning

confidence: 99%

Autonomous construction using scarce resources in unknown environments

2012

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The goal of creating machines that autonomously perform useful work in a safe, robust and intelligent manner continues to motivate robotics research. Achieving this autonomy requires capabilities for understanding the environment, physically interacting with it, predicting the outcomes of actions and reasoning with this knowledge. Such intelligent physical interaction was at the centre of early robotic investigations and remains an open topic.In this paper, we build on the fruit of decades of research to explore further this question in the context of autonomous construction in unknown environments with scarce resources. Our scenario involves a miniature mobile robot that autonomously maps an environment and uses cubes to bridge ditches and build vertical structures according to high-level goals given by a human.Based on a "real but contrived" experimental design, our results encompass practical insights for future applications that also need to integrate complex behaviours under hardware constraints, and shed light on the broader question of

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Section: Related Workmentioning

confidence: 99%

Autonomous construction using scarce resources in unknown environments

2012

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“…Petersen et al [17] presented an autonomous robot system which comprises swarm mobile robots and passive blocks. The mobile robots can manipulate the blocks to achieve collective construction of a large and complex structure.…”

Section: State Of the Artmentioning

confidence: 99%

Response Strategy to Environmental Cues for Modular Robots with Self-Assembly from Swarm to Articulated Robots

Wang

Wei

et al. 2015

J Intell Robot Syst

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This paper proposes a strategy for a group of swarm robots to self-assemble into a single articulated(legged) structure in response to terrain difficulties during autonomous exploration. These articulated structures will have several articulated legs or backbones, so they are well suited to walk on difficult terrains like animals. There are three tasks in this strategy: exploration, self-assembly and locomotion. We propose a formation self-assembly method to improve self-assembly efficiency. At the beginning, a swarm of robots explore the environment using their sensors and decide whether to self-assemble and select a target configuration from a library to form some robotic structures to finish a task. Then, the swarm of robots will execute a self-assembling task to construct the corresponding configuration of an articulated robot.connected robots, the articulated robot generates locomotive motions. Based on Sambot that are designed to unite swarm mobile and self-reconfigurable robots, we demonstrate the feasibility for a varying number of swarm robots to self-assemble into snake-like and multi-legged robotic structures. Then, the effectiveness and scalability of the strategy are discussed with two groups of experiments and it proves the formation self-assembly is more efficient in the end.

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“…Petersen et al [16] developed a termite inspired construction system for building three-dimensional structures with a small robot capable of moving on the structure made by specialized bricks, without using a motion capture system. In this work, a one-dimensional plan of the final structure, called structpath, is evaluated o✏ine, and then it is used by the robot to build the structure.…”

Section: Robotic Construction Systemsmentioning

confidence: 99%

“…In this work, a one-dimensional plan of the final structure, called structpath, is evaluated o✏ine, and then it is used by the robot to build the structure. Authors in [16], recently extended their work, and used three self-contained robots for building three-dimensional structures [7].…”

Section: Robotic Construction Systemsmentioning

confidence: 99%

Autonomous Construction with Compliant Building Material

Soleymani

Trianni

Bonani

et al. 2015

Intelligent Autonomous Systems 13

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Abstract. In this paper, we develop an autonomous construction system in which a self-contained ground robot builds a protective barrier by means of compliant pockets (i.e., filled bags). We present a stochastic control algorithm based on two biological mechanisms (stigmergy and templates) that takes advantage of compliant pockets for autonomous construction. The control algorithm guides the robot to build the structure without relying on any external motion capture system or external computer. We propose a statistical model to represent the structures built with the compliant pockets, and we provide a set of criteria for assessing the performance of the proposed system. To demonstrate the feasibility of the proposed system, real-robot experiments were carried out. In each experiment, the robot successfully built the structure. The results show the viability of the proposed autonomous construction system.

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TERMES: An Autonomous Robotic System for Three-Dimensional Collective Construction

Cited by 93 publications

References 11 publications

Autonomous construction using scarce resources in unknown environments

Autonomous construction using scarce resources in unknown environments

Response Strategy to Environmental Cues for Modular Robots with Self-Assembly from Swarm to Articulated Robots

Autonomous Construction with Compliant Building Material

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