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2016 | OriginalPaper | Chapter

Autonomous Construction with Compliant Building Material

Authors : Touraj Soleymani, Vito Trianni, Michael Bonani, Francesco Mondada, Marco Dorigo

Published in: Intelligent Autonomous Systems 13

Publisher: Springer International Publishing

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Abstract

In this paper, we develop an autonomous construction system in which a self-contained ground robot builds a protective barrier by means of compliant pockets (i.e., filled bags). We present a stochastic control algorithm based on two biological mechanisms (stigmergy and templates) that takes advantage of compliant pockets for autonomous construction. The control algorithm guides the robot to build the structure without relying on any external motion capture system or external computer. We propose a statistical model to represent the structures built with the compliant pockets, and we provide a set of criteria for assessing the performance of the proposed system. To demonstrate the feasibility of the proposed system, real-robot experiments were carried out. In each experiment, the robot successfully built the structure. The results show the viability of the proposed autonomous construction system.

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previous chapter Cognition-Enabled Robot Control for Mixed Human-Robot Rescue Teams
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Appendix
Available only for authorised users
Footnotes
1
The video of the experiment is available at: http://​iridia.​ulb.​ac.​be/​supp/​IridiaSupp2014-009.
 
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Metadata
Title
Autonomous Construction with Compliant Building Material
Authors
Touraj Soleymani
Vito Trianni
Michael Bonani
Francesco Mondada
Marco Dorigo
Copyright Year
2016
Book
Intelligent Autonomous Systems 13

Print ISBN: 978-3-319-08337-7

Electronic ISBN: 978-3-319-08338-4

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-08338-4_99

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