Sustainable cooperative robotic technologies for human and robotic outpost infrastructure construction and maintenance

Robotic Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous acquisition, transport, and precision mating of components in construction tasks. RCC minimizes use of resources constrained by a space environment such as computation, power, communication, and sensing. A behavior-based architecture provides adaptability and robustness despite low computational requirements. RCC successfully performs several construction related tasks in an emulated outdoor environment despite high levels of uncertainty in motions and sensing. This paper provides quantitative results for formation keeping in component transport, precision instrument placement, and construction tasks.