Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots
Our prior work presented a decentralized algorithm for coordinating the construction of truss shaped objects out of multiple components (rods and connectors). In this paper, we consider how to transfer the theory to practice, implementing the algorithm to create a decentralized multi robot construct...
| 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/1721.1/72544 https://orcid.org/0000-0001-5473-3566 |
| _version_ | 1826217295927574528 |
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| author | Bolger, Adrienne M. Faulkner, Matt Stein, David B. White, Lauren L. Yun, Seung-kook Rus, Daniela L. |
| author2 | Lincoln Laboratory |
| author_facet | Lincoln Laboratory Bolger, Adrienne M. Faulkner, Matt Stein, David B. White, Lauren L. Yun, Seung-kook Rus, Daniela L. |
| author_sort | Bolger, Adrienne M. |
| collection | MIT |
| description | Our prior work presented a decentralized algorithm for coordinating the construction of truss shaped objects out of multiple components (rods and connectors). In this paper, we consider how to transfer the theory to practice, implementing the algorithm to create a decentralized multi robot construction system. The system is composed of mobile manipulators and smarts parts with an embedded communication device. We discuss the delivery and assembly algorithms that comprise this system and the assumptions behind them. We present data from extensive hardware experiments with 4 robots coordinating an assembly task. |
| first_indexed | 2024-09-23T17:01:10Z |
| format | Article |
| id | mit-1721.1/72544 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T17:01:10Z |
| publishDate | 2012 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/725442022-09-29T23:07:18Z Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots Bolger, Adrienne M. Faulkner, Matt Stein, David B. White, Lauren L. Yun, Seung-kook Rus, Daniela L. Lincoln Laboratory Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Rus, Daniela L. Faulkner, Matt Stein, David B. White, Lauren L. Yun, Seung-kook Rus, Daniela L. Bolger, Adrienne M. Our prior work presented a decentralized algorithm for coordinating the construction of truss shaped objects out of multiple components (rods and connectors). In this paper, we consider how to transfer the theory to practice, implementing the algorithm to create a decentralized multi robot construction system. The system is composed of mobile manipulators and smarts parts with an embedded communication device. We discuss the delivery and assembly algorithms that comprise this system and the assumptions behind them. We present data from extensive hardware experiments with 4 robots coordinating an assembly task. Boeing Company National Science Foundation (U.S.). National Science Foundation (U.S.). (Grant number IIS-0426838) National Science Foundation (U.S.). Office of Emerging Frontiers in Research and Innovation (Grant number 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. Multidisciplinary University Research Initiative. Antidote Project (Grant number 138802) United States. Army Research Office. Multidisciplinary University Research Initiative. Scalable (Grant number 544252) Samsung Scholarship Foundation 2012-09-06T15:43:19Z 2012-09-06T15:43:19Z 2010-12 2010-10 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-6674-0 2153-0858 http://hdl.handle.net/1721.1/72544 Bolger, A et al. “Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots.” IEEE/RSJ International Conference on Intelligent Robots and Systems 2010 (IROS). 5085–5092, Oct 2010. © Copyright 2010 IEEE https://orcid.org/0000-0001-5473-3566 en_US http://dx.doi.org/10.1109/IROS.2010.5651495 IEEE/RSJ International Conference on Intelligent Robots and Systems 2010 (IROS) 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) IEEE |
| spellingShingle | Bolger, Adrienne M. Faulkner, Matt Stein, David B. White, Lauren L. Yun, Seung-kook Rus, Daniela L. Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots |
| title | Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots |
| title_full | Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots |
| title_fullStr | Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots |
| title_full_unstemmed | Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots |
| title_short | Experiments in Decentralized Robot Construction with Tool Delivery and Assembly Robots |
| title_sort | experiments in decentralized robot construction with tool delivery and assembly robots |
| url | http://hdl.handle.net/1721.1/72544 https://orcid.org/0000-0001-5473-3566 |
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