Building Blocks for Multi-robot Construction
Building Blocks for Multi-robot Construction
复制标题
多机器人建造的积木
DOI：
10.1007/978-4-431-35873-2_28
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Justin Werfel
中科院分区：
文献类型：
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作者：
Justin Werfel
传统上启发分布式机器人系统的社会性昆虫群体的一项显着功能是它们的建造活动。在本文中，我描述了一个简单、相同的自主机器人系统，能够通过将建筑材料块重新排列成所需的形状来构建任意设计的二维结构。结构设计被紧凑地指定为高级几何程序；机器人通过其固定的行为编程将该程序转化为物理形式。机器人在建筑项目内部和之间可以互换，并且不需要在不同的项目之间单独重新编程。这样的施工团队可以用作远程建筑结构系统的第一阶段，规划出更复杂的系统可以向上延伸的平面图。
One notable capability of social insect colonies that has traditionally inspired distributed robot systems is their construction activity. In this paper, I describe a system of simple, identical, autonomous robots able to build two-dimensional structures of arbitrary design by rearranging blocks of building material into desired shapes. Structure design is specified compactly as a high-level geometric program; robots translate this program into physical form via their fixed behavioral programming. Robots are interchangeable both within and between construction projects, and need not be individually reprogrammed between dissimilar projects. Such a construction team could be used as the first stage in a system for remote building of structures, laying out the floor plan that a more sophisticated system could extend upwards.