Distributed construction by mobile robots with enhanced building blocks

Justin Werfel, Yaneer Bar-Yam, Daniela Rus, Radhika Nagpal

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

59 Scopus citations

Abstract

We describe a system in which autonomous robots assemble two-dimensional structures out of square building blocks. A fixed set of local control rules is sufficient for a group of robots to collectively build arbitrary solid structures. We present and compare four versions in which blocks are (1) inert and indistinguishable, (2) uniquely labeled, (3) able to be relabeled by robots, (4) capable of some computation and local communication. Added block capabilities increase the availability of nonlocal structural knowledge, thereby increasing robustness and significantly speeding construction. In this way we extend the principle of stigmergy (storing information in the environment) used by social insects, by increasing the capabilities of the blocks that represent that environmental information. Finally, we describe hardware experiments using a prototype capable of building arbitrary solid 2-D structures.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages2787-2794
Number of pages8
DOIs
StatePublished - 2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/TerritoryUnited States
CityOrlando, FL
Period5/15/065/19/06

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Distributed construction by mobile robots with enhanced building blocks'. Together they form a unique fingerprint.

Cite this