Coordinating construction by a distributed multi-robot system

This thesis presents a decentralized algorithm for the coordinated assembly of 3D objects that consist of multiple types of parts, using a networked team of robots. We describe the algorithm and analyze its stability 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. The algorithm has been implemented in simulation and results for constructing 2D and 3D parts are shown. Finally, we describe hardware implementation of the algorithms where mobile manipulators assemble smarts parts with IR beacons.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2010

Author dc:creator

• Yun, Seung-kook

Advisor dc:contributor.advisor

• Daniela Rus.

• Electrical Engineering and Computer Science.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/62465

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/62465