Autonomous Construction with Compliant Building Material

  title={Autonomous Construction with Compliant Building Material},
  author={Touraj Soleymani and Vito Trianni and Michael Bonani and Francesco Mondada and Marco Dorigo},
In this paper, we develop an autonomous construction system in which a self-contained ground robot builds a protective barrier by means of compliant pockets (i.e., filled bags). We present a stochastic control algorithm based on two biological mechanisms (stigmergy and templates) that takes advantage of compliant pockets for autonomous construction. The control algorithm guides the robot to build the structure without relying on any external motion capture system or external computer. We… CONTINUE READING
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