Constraint-aware coordinated construction of generic structures
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 stru...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2012
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| Online Access: | http://hdl.handle.net/1721.1/72506 https://orcid.org/0000-0001-5473-3566 |
| _version_ | 1826198803307298816 |
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| author | Stein, David B. Schoen, T. Ryan Rus, Daniela L. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Stein, David B. Schoen, T. Ryan Rus, Daniela L. |
| author_sort | Stein, David B. |
| collection | MIT |
| description | 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 ℝn, and we present a novel algorithm for finding a locally optimal, equal-mass, convex tessellation of such a set. |
| first_indexed | 2024-09-23T11:10:13Z |
| format | Article |
| id | mit-1721.1/72506 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:10:13Z |
| publishDate | 2012 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/725062022-09-27T17:35:49Z Constraint-aware coordinated construction of generic structures Stein, David B. Schoen, T. Ryan Rus, Daniela L. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. School of Engineering Rus, Daniela L. Stein, David B. Schoen, T. Ryan Rus, Daniela L. 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 ℝn, and we present a novel algorithm for finding a locally optimal, equal-mass, convex tessellation of such a set. Boeing Company National Science Foundation (U.S.). National Science Foundation (U.S.). Office of Emerging Frontiers in Research and Innovation (Grant #0735953) United States. Army Research Office. Multidisciplinary University Research Initiative. Swarms of Autonomous Robots and Mobile Sensors Project (Grant number N0014-09-1051) United States. Army Research Office. Multidisciplinary University Research Initiative. Scalable (Grant number 544252) 2012-09-04T18:41:36Z 2012-09-04T18:41:36Z 2011-12 2011-09 Article http://purl.org/eprint/type/ConferencePaper 978-1-61284-454-1 2153-0858 http://hdl.handle.net/1721.1/72506 Stein, David, T. Ryan Schoen, and Daniela Rus. “Constraint-aware Coordinated Construction of Generic Structures.” IEEE, 2011. 4803–4810. https://orcid.org/0000-0001-5473-3566 en_US http://dx.doi.org/10.1109/IROS.2011.6048848 IEEE/RSJ International Conference on Intelligent Robots and Systems 2011 (IROS) Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Stein, David B. Schoen, T. Ryan Rus, Daniela L. Constraint-aware coordinated construction of generic structures |
| title | Constraint-aware coordinated construction of generic structures |
| title_full | Constraint-aware coordinated construction of generic structures |
| title_fullStr | Constraint-aware coordinated construction of generic structures |
| title_full_unstemmed | Constraint-aware coordinated construction of generic structures |
| title_short | Constraint-aware coordinated construction of generic structures |
| title_sort | constraint aware coordinated construction of generic structures |
| url | http://hdl.handle.net/1721.1/72506 https://orcid.org/0000-0001-5473-3566 |
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