Adaptation to robot failures and shape change in decentralized
Our prior work [1] presented a decentralized algorithm for coordinating the construction of a truss structure out of multiple components. In this paper, we discuss adaptation in decentralized construction. We partition construction in two tasks, tool delivery and assembly. Each task is performed by...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/59529 https://orcid.org/0000-0001-5473-3566 |
| _version_ | 1826198230598156288 |
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| author | Rus, Daniela L. Yun, Seungkook |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Rus, Daniela L. Yun, Seungkook |
| author_sort | Rus, Daniela L. |
| collection | MIT |
| description | Our prior work [1] presented a decentralized algorithm for coordinating the construction of a truss structure out of multiple components. In this paper, we discuss adaptation in decentralized construction. We partition construction in two tasks, tool delivery and assembly. Each task is performed by a networked team of specialized robots. We analyze the performance of the algorithms using the balls into bins problem, and show their adaptation to failure of robots, dynamic constraints, multiple types of elements and reconfiguration. The algorithms can be used for general types of source elements. |
| first_indexed | 2024-09-23T11:01:27Z |
| format | Article |
| id | mit-1721.1/59529 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:01:27Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/595292022-09-27T16:32:59Z Adaptation to robot failures and shape change in decentralized Rus, Daniela L. Yun, Seungkook Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Rus, Daniela L. Rus, Daniela L. Yun, Seungkook Our prior work [1] presented a decentralized algorithm for coordinating the construction of a truss structure out of multiple components. In this paper, we discuss adaptation in decentralized construction. We partition construction in two tasks, tool delivery and assembly. Each task is performed by a networked team of specialized robots. We analyze the performance of the algorithms using the balls into bins problem, and show their adaptation to failure of robots, dynamic constraints, multiple types of elements and reconfiguration. The algorithms can be used for general types of source elements. Boeing Company National Science Foundation (U.S.) (IIS-0426838) National Science Foundation (U.S.). Office of Emerging Frontiers in Research and Innovation ((EFRI) grant #0735953) United States. Office of Naval Research (MURI SMARTS grant #N0014-09-1051) United States. Office of Naval Research (MURI ANTIDOTE grant #138802) United States. Office of Naval Research (MURI SWARMS grant #544252) Samsung Scholarship Foundation 2010-10-26T19:56:36Z 2010-10-26T19:56:36Z 2010-07 2010-05 Article http://purl.org/eprint/type/JournalArticle 978-1-4244-5038-1 1050-4729 INSPEC Accession Number: 11430994 http://hdl.handle.net/1721.1/59529 Seung-kook Yun, and D. Rus. “Adaptation to robot failures and shape change in decentralized construction.” Robotics and Automation (ICRA), 2010 IEEE International Conference on. 2010. 2451-2458.©2010 Institute of Electrical and Electronics Engineers. https://orcid.org/0000-0001-5473-3566 en_US http://dx.doi.org/10.1109/ROBOT.2010.5509737 IEEE International Conference on Robotics and Automation (ICRA), 2010 Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Rus, Daniela L. Yun, Seungkook Adaptation to robot failures and shape change in decentralized |
| title | Adaptation to robot failures and shape change in decentralized |
| title_full | Adaptation to robot failures and shape change in decentralized |
| title_fullStr | Adaptation to robot failures and shape change in decentralized |
| title_full_unstemmed | Adaptation to robot failures and shape change in decentralized |
| title_short | Adaptation to robot failures and shape change in decentralized |
| title_sort | adaptation to robot failures and shape change in decentralized |
| url | http://hdl.handle.net/1721.1/59529 https://orcid.org/0000-0001-5473-3566 |
| work_keys_str_mv | AT rusdanielal adaptationtorobotfailuresandshapechangeindecentralized AT yunseungkook adaptationtorobotfailuresandshapechangeindecentralized |