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Behavior-Based Multi-Robot Collaboration for Autonomous Construction Tasks

By Terry Huntsberger, Ashley Stroupe, Matthew Robinson, Avi Okon and Hrand Aghazarian

Abstract

We present a heterogeneous multi-robot system for autonomous construction of a structure through assembly of long components. Placement of a component within an existing structure in a realistic environment is demonstrated on a two-robot team. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. Far adaptability, the system is designed as a behavior-based architecture. Far applicability to space-related construction efforts, computation, power, communication, and sensing are minimized, though the techniques developed are also applicable to terrestrial construction tasks

Topics: Cybernetics, Artificial Intelligence and Robotics
Year: 2005
OAI identifier: oai:casi.ntrs.nasa.gov:20090018998
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