NDLI: Modular Structure Assembly using Gradient Field

Content Provider	IEEE Xplore Digital Library
Author	Terada, Y. Murata, S.
Copyright Year	2006
Description	Author affiliation: Tokyo Inst. of Technol. (Terada, Y.; Murata, S.)
Abstract	Automated construction is in high demand in many applications in the extreme environments. Fully automatic construction system is desired but difficult to realize for many reasons. We have proposed a novel concept of full-automated construction called automatic modular assembly system (AMAS), which drastically reduces the difficulty of automated construction task. In this paper, we focus on distributed control method of the assembler robots. We assume large number of modules and robots; therefore we need to organize the motion paths of these robots to avoid collision among them. Moreover, the area on which the assembler robots can move dynamically expands during the construction process. In order to optimize the complex coordinated motion among the assembler robots, we introduce a distributed algorithm based on a gradient field. The structure modules generate the gradient field by using neighbor-to-neighbor communication, and the robots are led by the field. Incorporating some additional rules for the field and robots, we can make a kind of self-organized flow on the system, and it enables collision-free and time-effective assembly. Some results of simulations give quantitative evaluation of the algorithm
Starting Page	604
Ending Page	611
File Size	8020830
Page Count	8
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282542
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotic assembly Robot kinematics Robotics and automation Modular construction Assembly systems Orbital robotics Humans Distributed control Distributed algorithms Buildings Blackboard System Automatic Modular Assembly System (AMAS) self-organization gradient field Distributed Autonomous Systems (DAS)
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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