Cooperation among multiple robots by collecting broken robots in large-scale structure assembly

This paper focuses on the distributed control of the multiple robots which may be broken and investigates how the robots complete their task by collecting broken robots through the large-scale structure assembly. For this purpose, we conduct simulations of our proposed deadlock avoidance method with collecting broken robots under the different failure rate of robots. Through the intensive simulations, we have revealed that (1) our deadlock avoidance method with collecting broken robots completes assembly faster and more certainly than the method without collecting broken robots; and (2) a collection of broken robots before completing their own task (i.e., deploying their panel) is more effective than after complete their own task.