Bio-inspired construction with mobile robots and compliant pockets

  title={Bio-inspired construction with mobile robots and compliant pockets},
  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 self-contained ground robots build a protective barrier bymeans 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… CONTINUE READING