Planning the reconfiguration of grounded truss structures with truss climbing robots that carry truss elements

In this paper we describe an optimal reconfiguration planning algorithm that morphs a grounded truss structure of known geometry into a new geometry. The plan consists of a sequence of paths to move truss elements to their new locations that generate the new truss geometry. The trusses are grounded and remain connected at all time. Intuitively, the algorithm grows gradually the new truss structure from the old one. The truss elements are rigid bars joined with 18-way connectors. The paper also introduces the design of a truss-climbing robot that can execute the plan.National Science Foundation (U.S.). Office of Emerging Frontiers in Research and Innovation (EFRI grant #0735953)Samsung Fellowshi

Constraint-aware distributed robotic assembly and disassembly

Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2012.Cataloged from PDF version of thesis.Includes bibliographical references (p. 83-85).In this work, we present a distributed robotic system capable of the efficient assembly and disassembly of complex three-dimensional structures. We introduce algorithms for equitable partitioning of work across robots and for the efficient ordering of assembly or disassembly tasks while taking physical constraints into consideration. We then extend these algorithms to a variety of real-world situations, including when component parts are unavailable or when the time requirements of assembly tasks are non-uniform. We demonstrate the correctness and efficiency of these algorithms through a multitude of simulations. Finally, we introduce a mobile robotic platform and implement these algorithms on them. We present experimental data from this platform on the effectiveness and applicability of our algorithms.by Timothy Ryan Schoen.M.Eng

Coordinating construction by a distributed multi-robot system

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010.Cataloged from PDF version of thesis.Includes bibliographical references (p. 147-156).This thesis presents a decentralized algorithm for the coordinated assembly of 3D objects that consist of multiple types of parts, using a networked team of robots. We describe the algorithm and analyze its stability and adaptation properties. We partition construction in two tasks, tool delivery and assembly. Each task is performed by a networked team of specialized robots. We analyze the performance of the algorithms using the balls into bins problem, and show their adaptation to failure of robots, dynamic constraints, multiple types of elements and reconfiguration. We instantiate the algorithm to building truss-like objects using rods and connectors. The algorithm has been implemented in simulation and results for constructing 2D and 3D parts are shown. Finally, we describe hardware implementation of the algorithms where mobile manipulators assemble smarts parts with IR beacons.by Seung-kook Yun.Ph.D

An embedded controller for quad-rotor flying robots running distributed algorithms

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2009.Cataloged from PDF version of thesis.Includes bibliographical references (p. 379-383).Multiple collaborating quad-rotor flying robots are useful in a broad range of applications, from surveillance with onboard cameras to reconfiguration of wireless networks. For these applications, it is often advantageous to have the robot team be a distributed system. In this thesis, an embedded controller capable of running distributed algorithms is presented for the quad-rotor flying robot. The robot platform is first characterized to help guide the design of the embedded control module. These modules are fabricated and tested on the quad-rotor flying robots in both indoor and outdoor environments. To propagate state estimates throughout the robot team, a location-based multi-hop algorithm is proposed. Network limitations, such as sub-optimal bandwidth and finite communication range, are implemented in hardware-in-the-loop simulations to determine system performance. A novel coverage algorithm for multiple hovering robots with downward facing cameras is then demonstrated on the embedded controller. The results from numerous indoor and outdoor experiments are discussed.by Brian John Julian.S.M