Experiments in decentralized robot construction with tool delivery and assembly robots

Author

Bolger, Adrienne ; Faulkner, Matt ; Stein, David ; White, Lauren ; Yun, Seung-Kook ; Rus, Daniela

Author_Institution

Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA

fYear

2010

fDate

18-22 Oct. 2010

Firstpage

5085

Lastpage

5092

Abstract

Our prior work presented a decentralized algorithm for coordinating the construction of truss shaped objects out of multiple components (rods and connectors). In this paper, we consider how to transfer the theory to practice, implementing the algorithm to create a decentralized multi robot construction system. The system is composed of mobile manipulators and smarts parts with an embedded communication device. We discuss the delivery and assembly algorithms that comprise this system and the assumptions behind them. We present data from extensive hardware experiments with 4 robots coordinating an assembly task.

Keywords

decentralised control; industrial manipulators; mobile robots; multi-robot systems; robotic assembly; solid modelling; assembly robot; decentralized multirobot construction; embedded communication device; mobile manipulator; tool delivery; truss shaped object construction;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Conference_Location

Taipei

ISSN

2153-0858

Print_ISBN

978-1-4244-6674-0

Type

conf

DOI

10.1109/IROS.2010.5651495

Filename

5651495