Distributed amorphous ramp construction in unstructured environments

Nils Napp, Radhika Nagpal

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Scopus citations


We present a model of construction using iterative amorphous depositions and give a distributed algorithm to reliably build ramps in unstructured environments. The relatively simple local strategy for interacting with irregularly shaped, partially built structures gives rise robust adaptive global properties. We illustrate the algorithm in both the single robot and multi-robot case via simulation and describe how to solve key technical challenges to implementing this algorithm via a robotic prototype.

Original languageEnglish (US)
Title of host publicationDistributed Autonomous Robotic Systems - The 11th International Symposium
EditorsGregory Chirikjian, M. Ani Hsieh
PublisherSpringer Verlag
Number of pages15
ISBN (Electronic)9783642551451
StatePublished - 2014
Externally publishedYes
Event11th International Symposium on Distributed Autonomous Robotic Systems, DARS 2012 - Baltimore, United States
Duration: Nov 8 2012Nov 11 2012

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Conference11th International Symposium on Distributed Autonomous Robotic Systems, DARS 2012
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Artificial Intelligence


Dive into the research topics of 'Distributed amorphous ramp construction in unstructured environments'. Together they form a unique fingerprint.

Cite this