Coordinating Construction of Truss Structures using Distributed Equal-mass Partitioning
نویسندگان
چکیده
This paper 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 analyzed its stability and adaptation properties. We instantiate the algorithm to building truss-like objects using rods and connectors. We implement the algorithm in simulation and show results for constructing 2D and 3D parts. Finally, we discuss briefly preliminary hardware results.
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