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- W2011052334 abstract "This paper presents a constraint-aware decentralized approach to construction with teams of robots. We present an extension to existing work on a distributed controller for robotic construction of simple structures. Our previous work described a set of adaptive algorithms for constructing truss structures given a target geometry using continuous and graph-based equal-mass partitioning [1], [2]. Using this work as a foundation, we present an algorithm which performs construction tasks and conforms to physical constraints while considering those constraints to parallelize tasks. This is accomplished by defining a mass function which reflects the priority of part placement and prevents physically impossible states. This mass function generates a set of pointmasses in ℝ <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>n</sup> , and we present a novel algorithm for finding a locally optimal, equal-mass, convex tessellation of such a set." @default.
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- W2011052334 date "2011-09-01" @default.
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- W2011052334 title "Constraint-aware coordinated construction of generic structures" @default.
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- W2011052334 doi "https://doi.org/10.1109/iros.2011.6094682" @default.
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