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Behavior-Based Multi-Robot Collaboration for Autonomous Construction TasksWe present a heterogeneous multi-robot system for autonomous construction of a structure through assembly of long components. Placement of a component within an existing structure in a realistic environment is demonstrated on a two-robot team. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. Far adaptability, the system is designed as a behavior-based architecture. Far applicability to space-related construction efforts, computation, power, communication, and sensing are minimized, though the techniques developed are also applicable to terrestrial construction tasks.
Document ID
20090018998
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Stroupe, Ashley
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Huntsberger, Terry
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Okon, Avi
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Aghazarian, Hrand
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Robinson, Matthew
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 24, 2013
Publication Date
April 18, 2005
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Meeting Information
Meeting: IEEE International Conference on Robotics and Automation
Location: Barcelona
Country: Spain
Start Date: April 18, 2005
End Date: April 22, 2005
Sponsors: Institute of Electrical and Electronics Engineers
Distribution Limits
Public
Copyright
Other
Keywords
autonomous construction
cooperative transport
mulit robots teams

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