Coordinating construction by a distributed multi-robot system
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2011
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| Online Access: | http://hdl.handle.net/1721.1/62465 |
| _version_ | 1811090073538527232 |
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| author | Yun, Seung-kook |
| author2 | Daniela Rus. |
| author_facet | Daniela Rus. Yun, Seung-kook |
| author_sort | Yun, Seung-kook |
| collection | MIT |
| description | Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010. |
| first_indexed | 2024-09-23T14:32:23Z |
| format | Thesis |
| id | mit-1721.1/62465 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T14:32:23Z |
| publishDate | 2011 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/624652019-04-11T02:43:26Z Coordinating construction by a distributed multi-robot system Yun, Seung-kook Daniela Rus. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Electrical Engineering and Computer Science. Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010. Cataloged from PDF version of thesis. Includes bibliographical references (p. 147-156). This thesis presents a decentralized algorithm for the coordinated assembly of 3D objects that consist of multiple types of parts, using a networked team of robots. We describe the algorithm and analyze its stability and adaptation properties. 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. We instantiate the algorithm to building truss-like objects using rods and connectors. The algorithm has been implemented in simulation and results for constructing 2D and 3D parts are shown. Finally, we describe hardware implementation of the algorithms where mobile manipulators assemble smarts parts with IR beacons. by Seung-kook Yun. Ph.D. 2011-04-25T16:03:28Z 2011-04-25T16:03:28Z 2010 2010 Thesis http://hdl.handle.net/1721.1/62465 711300078 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 156 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Electrical Engineering and Computer Science. Yun, Seung-kook Coordinating construction by a distributed multi-robot system |
| title | Coordinating construction by a distributed multi-robot system |
| title_full | Coordinating construction by a distributed multi-robot system |
| title_fullStr | Coordinating construction by a distributed multi-robot system |
| title_full_unstemmed | Coordinating construction by a distributed multi-robot system |
| title_short | Coordinating construction by a distributed multi-robot system |
| title_sort | coordinating construction by a distributed multi robot system |
| topic | Electrical Engineering and Computer Science. |
| url | http://hdl.handle.net/1721.1/62465 |
| work_keys_str_mv | AT yunseungkook coordinatingconstructionbyadistributedmultirobotsystem |