Distributed amorphous ramp construction in unstructured environments

Nils Napp, Radhika Nagpal

Research output: Contribution to journalArticlepeer-review

34 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 to robust adaptive global properties. We illustrate the algorithm in both single robot and multi-robot cases via simulations and describe how to solve key technical challenges to implementing this algorithm via a robotic prototype.

Original languageEnglish (US)
Pages (from-to)279-290
Number of pages12
Issue number2
StatePublished - Mar 2014
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Software
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence
  • Rehabilitation
  • Control and Systems Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Computational Mechanics
  • General Mathematics
  • Modeling and Simulation


  • Bioinspired robots
  • Control of robotic systems
  • Mobile robots
  • Multi-robot systems
  • Novel applications of robotics


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