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3-Dimensional Tiling for Distributed Assembly by Robot Teams

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Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 88))

Abstract

We consider the assembly of a three dimensional (3D) structure by a team of heterogeneous robots capable of online sensing and error correction during the assembly process. The automated assembly problem is posed as a general 3D tiling problem where the assembly components/tiles consist of various shapes and sizes. For a desired 3D structure, we first compute the partition of the assembly strategy into N c sub-components that can be executed in parallel by a team of N c assembly robots. To enable online error detection and correction during the assembly process, mobile robots equipped with visual depth sensors are tasked to scan, identify, and track the state of the structure. The objective is to enable online detection of missing assembly components and reassignment of these components to the team of assembly robots. We present the development of the planning, sensing, and control strategies employed and report on the experimental validation of these strategies using our multi-robot testbed.

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Author information

Authors and Affiliations

  1. Mechanical Engineering & Mechanics, Drexel University, Philadelphia, PA, 19104, USA

    James Worcester & Mong-ying Ani Hsieh

  2. Computer & Information Sciences, Temple University, Philadelphia, PA, 19122, USA

    Rolf Lakaemper

Authors
  1. James Worcester
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  2. Rolf Lakaemper
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  3. Mong-ying Ani Hsieh
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Corresponding author

Correspondence to James Worcester .

Editor information

Editors and Affiliations

  1. (RAMS) Institute for Systems Research, Maryland Robotics Center, University of Maryland, Room 0160, Bldg 088, Glenn L. Martin Hall, College Park, 20742, Maryland, USA

    Jaydev P. Desai

  2. , Centre for Intelligent Machines, McGill University, Room 419, 3480 University Street, Montreal, H3A 2A7, Québec, Canada

    Gregory Dudek

  3. , Department of Computer Science, Stanford University, Stanford, 94305-9010, California, USA

    Oussama Khatib

  4. , School of Engineering & Applied Science, University of Pennsylvania, 107 Towne Building, 220 South 33rd Street, Philadelphia, 19104-6391, Pennsylvania, USA

    Vijay Kumar

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Worcester, J., Lakaemper, R., Hsieh, My.A. (2013). 3-Dimensional Tiling for Distributed Assembly by Robot Teams. In: Desai, J., Dudek, G., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 88. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00065-7_11

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  • DOI: https://doi.org/10.1007/978-3-319-00065-7_11

  • Publisher Name: Springer, Heidelberg

  • Print ISBN: 978-3-319-00064-0

  • Online ISBN: 978-3-319-00065-7

  • eBook Packages: EngineeringEngineering (R0)

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