TY - GEN
T1 - Robotic construction of arbitrary shapes with amorphous materials
AU - Napp, Nils
AU - Nagpal, Radhika
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - We present a locally reactive algorithm to construct arbitrary shapes with amorphous materials. The goal is to provide methods for robust robotic construction in unstructured, cluttered terrain, where deliberative approaches with pre-fabricated construction elements are difficult to apply. Amorphous materials provide a simple way to interface with existing obstacles, as well as irregularly shaped previous depositions. The local reactive nature of these algorithms allows robots to recover from disturbances, operate in dynamic environments, and provides a way to work with scalable robot teams.
AB - We present a locally reactive algorithm to construct arbitrary shapes with amorphous materials. The goal is to provide methods for robust robotic construction in unstructured, cluttered terrain, where deliberative approaches with pre-fabricated construction elements are difficult to apply. Amorphous materials provide a simple way to interface with existing obstacles, as well as irregularly shaped previous depositions. The local reactive nature of these algorithms allows robots to recover from disturbances, operate in dynamic environments, and provides a way to work with scalable robot teams.
UR - http://www.scopus.com/inward/record.url?scp=84929192340&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929192340&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6906893
DO - 10.1109/ICRA.2014.6906893
M3 - Conference contribution
AN - SCOPUS:84929192340
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 438
EP - 444
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -