Abstract
We present a model of construction using iterative amorphous depositions and give a distributed algorithm to reliably build ramps in unstructured environments. The relatively simple local strategy for interacting with irregularly shaped, partially built structures gives rise robust adaptive global properties. We illustrate the algorithm in both the single robot and multi-robot case via simulation and describe how to solve key technical challenges to implementing this algorithm via a robotic prototype.
This work was supported by the Wyss Institute for Bioinspired Engineering.
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Napp, N., Nagpal, R. (2014). Distributed Amorphous Ramp Construction in Unstructured Environments. In: Ani Hsieh, M., Chirikjian, G. (eds) Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 104. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-55146-8_8
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DOI: https://doi.org/10.1007/978-3-642-55146-8_8
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