Adaptive Coordinating Construction of Truss Structures Using Distributed Equal-Mass Partitioning

This paper presents a decentralized algorithm for the coordinated assembly of 3-D objects that consist of multiple types of parts, using a networked team of robots. We describe the algorithm and analyze its convergence and adaptation properties. We partition construction in two tasks: tool delivery and assembly. Each task is performed by a networked team of specialized robots. We analyze the performance of the algorithms using the balls into bins problem and show their adaptation to failure of robots, dynamic constraints, multiple types of elements, and reconfiguration. We instantiate the algorithm to building truss-like objects using rods and connectors. We implement the algorithm in simulation and show results to construct 2-D and 3-D parts. Finally, we describe hardware implementation of the algorithms, where mobile manipulators assemble smart parts with IR beacons.

[1]  Mac Schwager,et al.  From Theory to Practice: Distributed Coverage Control Experiments with Groups of Robots , 2008, ISER.

[2]  William Whittaker,et al.  Skyworker: a robot for assembly, inspection and maintenance of large scale orbital facilities , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[3]  Radhika Nagpal,et al.  Three-Dimensional Construction with Mobile Robots and Modular Blocks , 2008, Int. J. Robotics Res..

[4]  Mac Schwager,et al.  Decentralized, Adaptive Control for Coverage with Networked Robots , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[5]  Seung-kook Yun.  Coordinating construction by a distributed multi-robot system , 2010 .

[6]  D. Atkin.  OR scheduling algorithms. , 2000, Anesthesiology.

[7]  Chang-Soo Han,et al.  Human-robot cooperation control for installing heavy construction materials , 2007, Auton. Robots.

[8]  Vijay Kumar,et al.  Simultaneous Coverage and Tracking (SCAT) of Moving Targets with Robot Networks , 2008, WAFR.

[9]  Spring Berman,et al.  Stochastic strategies for a swarm robotic assembly system , 2009, 2009 IEEE International Conference on Robotics and Automation.

[10]  Hong Zhang,et al.  Blind bulldozing: multiple robot nest construction , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[11]  Daniela Rus,et al.  Optimal distributed planning for self assembly of modular manipulators , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  Daniela Rus,et al.  Adaptation to robot failures and shape change in decentralized construction , 2010, 2010 IEEE International Conference on Robotics and Automation.

[13]  Daniela Rus,et al.  Self assembly of modular manipulators with active and passive modules , 2008, ICRA.

[14]  Scott E. Fahlman,et al.  A Planning System for Robot Construction Tasks , 1973, Artif. Intell..

[15]  Mac Schwager,et al.  A Location-Based Algorithm for Multi-Hopping State Estimates within a Distributed Robot Team , 2009, FSR.

[16]  Sonia Martínez,et al.  Coverage control for mobile sensing networks , 2002, IEEE Transactions on Robotics and Automation.

[17]  Chang-Soo Han,et al.  Development of Hybrid Robot for Construction Works with Pneumatic Actuator , 2003 .

[18]  Yangsheng Xu,et al.  SM/sup 2/ for new space station structure: autonomous locomotion and teleoperation control , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[19]  Matthew Faulkner,et al.  Experiments in decentralized robot construction with tool delivery and assembly robots , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  Sarjoun Skaff,et al.  Skyworker: Robotics for Space Assembly, Inspection and Maintenance , 2001 .

[21]  Mac Schwager,et al.  Optimal coverage for multiple hovering robots with downward facing cameras , 2009, 2009 IEEE International Conference on Robotics and Automation.

[22]  Martin Raab,et al.  "Balls into Bins" - A Simple and Tight Analysis , 1998, RANDOM.

[23]  Yangsheng Xu,et al.  Human-robot cooperation in space: SM2 for new space station structure , 1995, IEEE Robotics Autom. Mag..

[24]  Michael Mitzenmacher,et al.  The Power of Two Choices in Randomized Load Balancing , 2001, IEEE Trans. Parallel Distributed Syst..

[25]  Hod Lipson,et al.  Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements , 2009, 2009 IEEE International Conference on Robotics and Automation.