Abstract
This paper 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 instantiate the algorithm to building truss-like objects using rods and connectors. We implement the algorithm in simulation and show results for constructing 2D and 3D parts. Finally, we discuss briefly preliminary hardware results.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Detweiler, C., Vona, M., Yoon, Y., Yun, S.-k., Rus, D.: Selfassembling mobile linkages. IEEE Robotics and Automation Magazine 14(4), 45–55 (2007)
Cortes, J., Martinez, S., Karatas, T., Bullo, F.: Coverage control for mobile sensing networks, 20th edn., pp. 243–255 (2004)
Yun, S.k., Hjelle, D.A., Lipson, H., Rus, D.: Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements. In: Proc. of IEEE/RSJ IEEE International Conference on Robotics and Automation, Kobe, Japan (May 2009)
S., Yun, S.k., Rus, D.: Optimal distributed planning for self assembly of modular manipulators. In: Proc. of IEEE/RSJ IEEE International Conference on Intelligent Robots and Systems, Nice, France, September 2008, pp. 1346–1352 (2008)
Yun, S.k., Rus, D.: Self assembly of modular manipulators with active and passive modules. In: Proc. of IEEE/RSJ IEEE International Conference on Robotics and Automation, pp. 1477-1482 (May 2008)
Nechyba, M.C., Xu, Y.: Human-robot cooperation in space: SM2 for new spacestation structure. IEEE Robotics & Automation Magazine 2(4), 4–11 (1995)
Pavone, M., Frazzoli, E., Bullo, F.: Distributed algorithms for equitable partitioning policies: Theory and applications. In: IEEE Conference on Decision and Control, Cancun, Mexico (December 2008)
Pimenta, L.C.A., Schwager, M., Lindsey, Q., Kumar, V., Rus, D., Mesquita, R.C., Pereira, G.A.S.: Simultaneous coverage and tracking (scat) of moving targets with robot networks. In: Proceedings of the Eighth International Workshop on the Algorithmic Foundations of Robotics (WAFR), Guanajuato, Mexico (December 2008)
Schwager, M., Rus, D., Slotine, J.-J.E.: Decentralized, adaptive control for coverage with networked robots. International Journal of Robotics Research 28(3), 357–375 (2009)
Skaff, S., Staritz, P., Whittaker, W.L.: Skyworker: Robotics for space assembly, inspection and maintenance. In: Space Studies Institute Conference (2001)
Werfel, J., Nagpal, R.: International journal of robotics research. Three-dimensional construction with mobile robots and modular blocks 3-4(27), 463–479 (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Yun, Sk., Schwager, M., Rus, D. (2011). Coordinating Construction of Truss Structures Using Distributed Equal-Mass Partitioning. In: Pradalier, C., Siegwart, R., Hirzinger, G. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 70. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19457-3_36
Download citation
DOI: https://doi.org/10.1007/978-3-642-19457-3_36
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-19456-6
Online ISBN: 978-3-642-19457-3
eBook Packages: EngineeringEngineering (R0)