Title :
Autonomous construction of a roofed structure: Synthesizing planning and stigmergy on a mobile robot
Author :
Wismer, Stefan ; Hitz, Gregory ; Bonani, Michael ; Gribovskiy, Alexey ; Magnenat, Stéphane
Author_Institution :
Autonomous Syst. Lab., ETH Zurich, Zurich, Switzerland
Abstract :
We demonstrate a scenario in which a mobile robot, according to a plan, builds a structure that it can then enter. The robot interacts with the construction using local sensing. This synthesis of planning and stigmergy opens the way to new construction techniques using mobile robots.
Keywords :
construction; mobile robots; planning (artificial intelligence); autonomous roofed structure construction; construction techniques; local sensing; mobile robot; planning synthesis; stigmergy; Buildings; Grippers; Infrared sensors; Mobile robots; Robot sensing systems;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6386278
