Paper Info
Title
Autonomous Construction with Compliant Building Material
Abstract
In this paper, we develop an autonomous construction system in which a self-contained ground robot builds a protective barrier by means of compliant pockets (i.e., filled bags). We present a stochastic control algorithm based on two biological mechanisms (stigmergy and templates) that takes advantage of compliant pockets for autonomous construction. The control algorithm guides the robot to build the structure without relying on any external motion capture system or external computer. 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 experiments were carried out. In each experiment, the robot successfully built the structure. The results show the viability of the proposed autonomous construction system.
Year
DOI
Venue
2014
10.1007/978-3-319-08338-4_99
INTELLIGENT AUTONOMOUS SYSTEMS 13
Keywords
Field
DocType
Autonomous construction,Compliant pockets,Robotics,Stigmergy,Templates
Motion capture,Simulation,Computer science,Control engineering,Statistical model,Artificial intelligence,Template,Building material,Robot,Stigmergy,Robotics,Stochastic control
Conference
Volume
ISSN
Citations 
302
2194-5357
4
PageRank 
References 
Authors
0.49
7
5
Name
Order
Citations
PageRank
Touraj Soleymani1163.04
Vito Trianni277851.87
Michael Bonani320315.08
Francesco Mondada41219161.35
Marco Dorigo5140311211.61