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Sustainable Cooperative Robotic Technologies for Human and Robotic Outpost Infrastructure Construction and MaintenanceRobotic Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous acquisition, transport, and precision mating of components in construction tasks. RCC minimizes resources constrained in a space environment such as computation, power, communication and, sensing. A behavior-based architecture provides adaptability and robustness despite low computational requirements. RCC successfully performs several construction related tasks in an emulated outdoor environment despite high levels of uncertainty in motions and sensing. Quantitative results are provided for formation keeping in component transport, precision instrument placement, and construction tasks.
Document ID
20070034865
Acquisition Source
Jet Propulsion Laboratory
Document Type
Preprint (Draft being sent to journal)
External Source(s)
Authors
Stroupe, Ashley W.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Okon, Avi
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Robinson, Matthew
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Huntsberger, Terry
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Aghazarian, Hrand
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Baumgartner, Eric
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 24, 2013
Publication Date
November 9, 2004
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Meeting Information
Meeting: Robosphere
Location: Moffett Field, CA
Country: United States
Start Date: November 9, 2004
End Date: November 10, 2004
Distribution Limits
Public
Copyright
Other
Keywords
multi-robot systems
cooperative transport
robotic construction
space robotics

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