Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 74, Issue -, Pages 340-350Publisher
ELSEVIER
DOI: 10.1016/j.robot.2015.07.018
Keywords
Autonomous construction; Mobile robots; Compliant pockets; Stigmergy; Templates
Funding
- Belgian F.R.S.-FNRS [R.70.02.11F]
- Italian CNR [GAE_P0000412]
- Swiss NSF [20BI21_134317]
- ERC [246939]
- European Union project ASCENS [257414]
- Belgian F.R.S.-FNRS
- Swiss National Science Foundation (SNF) [20BI21_134317] Funding Source: Swiss National Science Foundation (SNF)
- European Research Council (ERC) [246939] Funding Source: European Research Council (ERC)
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In this paper, we develop an autonomous construction system in which self-contained ground robots build a protective barrier by means of compliant pockets. We present a stochastic control algorithm based on two biological mechanisms - stigmergy and templates - that takes advantage of compliant pockets for autonomous construction with single and multiple robots. The control algorithm guides the robot(s) to build the protective barrier without relying on a central planner, an external computer, or a motion capture system. We propose a statistical model to represent the structures built with the compliant pockets, and we provide a set of criteria for assessing the performance of the proposed system. To demonstrate the feasibility of the proposed system, real-robot and simulation experiments were carried out. The results show the viability of the proposed autonomous construction system. (C) 2015 Elsevier B.V. All rights reserved.
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