Structure and markings as stimuli for autonomous construction

Allwright, Michael; Bhalla, Navneet; Dorigo, Marco

doi:10.1109/icar.2017.8023623

Cited by 12 publications

(11 citation statements)

References 17 publications

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“…In our previous work, we demonstrated the construction of a staircase using a single robot [1]. The staircase consisted of three columns of blocks descending in height with the blocks in each column illuminated with a distinct LED color.…”

Section: Reproducing the Hardware Resultsmentioning

confidence: 99%

“…In this section, we demonstrate how our plug-ins for the ARGoS simulator enable us to qualitatively reproduce our hardware-based experiment, in which a single robot constructed a staircase [1]. In addition to reproducing our hardware-based experiment, we show in simulation a more complicated construction scenario involving four robots that collectively assemble a stepped pyramid.…”

Section: Case Study: Multi-robot Constructionmentioning

confidence: 98%

“…The hardware of our autonomous construction system consists of a building material known as stigmergic blocks and an autonomous robot, which assembles the blocks into structures [1]. The blocks are cubes that contain on each face: (i) a tag, (ii) a near-field communication (NFC) interface, and (iii) four multi-color light-emitting diodes (LEDs).…”

Section: Summary Of the Hardware And The Control Softwarementioning

confidence: 99%

“…In this paper, we present a number of plug-ins for a multi-robot simulator that we have developed to enable a high-fidelity simulation of the multi-robot construction systems typically found in laboratory settings. We validate these plug-ins qualitatively by repeating a hardware-based experiment in simulation where a single robot assembles a staircase from blocks [1]. We then show how we can use the plug-ins to scale up the complexity of the construction scenario and demonstrate multi-robot construction in simulation.…”

mentioning

confidence: 91%

“…Using a single robot, we previously studied how stigmergic communication could be used to guide the construction of a staircase [1]. The robot in this study located unused blocks in the environment before attaching them to the staircase according to the arrangement of the blocks already in the structure.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Simulating Multi-robot Construction in ARGoS

Allwright¹,

Bhalla²,

Pinciroli³

et al. 2018

Lecture Notes in Computer Science

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0000−0002−0932−3215] , Navneet Bhalla 2[0000−0003−0254−7344] , Carlo Pinciroli 3[0000−0002−2155−0445] , and Marco Dorigo 1[0000−0002−3971−0507]Abstract. Running hardware-based experiments in multi-robot construction is an expensive and time-consuming endeavor. Furthermore, it is difficult to disseminate the results from hardware-based experiments in a way that other researchers can build upon. In this paper, we present a number of plug-ins for a multi-robot simulator that we have developed to enable a high-fidelity simulation of the multi-robot construction systems typically found in laboratory settings. We validate these plug-ins qualitatively by repeating a hardware-based experiment in simulation where a single robot assembles a staircase from blocks [1]. We then show how we can use the plug-ins to scale up the complexity of the construction scenario and demonstrate multi-robot construction in simulation. To enable other researchers to replicate our experiments and to promote collaboration, we have made our plug-ins open source.

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Section: Reproducing the Hardware Resultsmentioning

confidence: 99%

Section: Case Study: Multi-robot Constructionmentioning

confidence: 98%

Section: Summary Of the Hardware And The Control Softwarementioning

confidence: 99%

mentioning

confidence: 91%

Section: Introductionmentioning

confidence: 99%

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Simulating Multi-robot Construction in ARGoS

Allwright¹,

Bhalla²,

Pinciroli³

et al. 2018

Lecture Notes in Computer Science

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The Computational Complexity of Controller-Environment Co-design Using Library Selection for Distributed Construction

Timmar

Wareham

2019

Distributed Autonomous Robotic Systems

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Creating specified structures through the coordinated efforts of teams of simple autonomous robots is a significant problem in distributed robotics. All previous effort, both empirical and theoretical, has focused on the problems of designing either controllers or environments which, in tandem with given environments or controllers, built the specified structures. In this paper, we give the results of the first computational and parameterized complexity analyses of the controller-environment co-design problem in the simple case where teams of finite-state robots are designed by selecting controllers from a given library. We show that this problem cannot be solved efficiently in general or under a number of restrictions, and give the first restrictions under which this problem is efficiently solvable.We also consider two elaborations on this problem. First, we analyze the controllerenvironment co-design problem under a new architecture in which robots have a transient memory. Second, we give the first definitions of and derive computational complexity results for stigmergy-related parameters for the controller-environment co-design problem. ii Acknowledgements I would like to express my profound gratitude to Dr. Todd Wareham, my research supervisor, for his academic guidance, untiring support, research grant and his valuable and constructive feedback of this research work. His readiness to accommodate me whenever possible and to help me throughout my research work is much appreciated.

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Swarm Intelligence

2020

Lecture Notes in Computer Science

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Structure and markings as stimuli for autonomous construction

Cited by 12 publications

References 17 publications

Simulating Multi-robot Construction in ARGoS

Simulating Multi-robot Construction in ARGoS

The Computational Complexity of Controller-Environment Co-design Using Library Selection for Distributed Construction

Swarm Intelligence

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