000212892 001__ 212892
000212892 005__ 20181203024028.0
000212892 022__ $$a0921-8890
000212892 0247_ $$2doi$$a10.1016/j.robot.2015.07.018
000212892 037__ $$aARTICLE
000212892 245__ $$aBio-inspired construction with mobile robots and compliant pockets
000212892 269__ $$a2015
000212892 260__ $$aAmsterdam$$bElsevier$$c2015
000212892 336__ $$aJournal Articles
000212892 520__ $$aIn this paper, we develop an autonomous construction system in which self-contained ground robots build a protective barrier by means of compliant pockets. We present a stochastic control algorithm based on two biological mechanisms–stigmergy and templates–that takes advantage of compliant pockets for autonomous construction with single and multiple robots. The control algorithm guides the robot(s) to build the protective barrier without relying on a central planner, an external computer, or a motion capture system. We propose a statistical model to represent the structures built with the compliant pockets, and we provide a set of criteria for assessing the performance of the proposed system. To demonstrate the feasibility of the proposed system, real-robot and simulation experiments were carried out. The results show the viability of the proposed autonomous construction system.
000212892 6531_ $$aAutonomous construction
000212892 6531_ $$aMobile robots
000212892 6531_ $$aStigmergy
000212892 6531_ $$aCompliant pockets
000212892 6531_ $$aMobile robots
000212892 6531_ $$amarXbot
000212892 6531_ $$a[MOBOTS]
000212892 700__ $$aSoleymani, Touraj$$uUniv Libre Bruxelles, IRIDIA, B-1050 Brussels, Belgium
000212892 700__ $$aTrianni, Vito$$uCNR, ISTC, Rome, Italy
000212892 700__ $$0241015$$aBonani, Michael$$g120088$$uAssoc Mobsya, Crissier, Switzerland
000212892 700__ $$0240589$$aMondada, Francesco$$g102717
000212892 700__ $$aDorigo, Marco$$uUniv Libre Bruxelles, IRIDIA, B-1050 Brussels, Belgium
000212892 773__ $$j74$$q340-350$$tRobotics And Autonomous Systems
000212892 909C0 $$0252016$$pLSRO
000212892 909CO $$ooai:infoscience.tind.io:212892$$pSTI$$particle
000212892 917Z8 $$x102717
000212892 917Z8 $$x102717
000212892 937__ $$aEPFL-ARTICLE-212892
000212892 973__ $$aEPFL$$rREVIEWED$$sPUBLISHED
000212892 980__ $$aARTICLE