Bio-inspired construction with mobile robots and compliant pockets

In 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.

Tipo Pubblicazione: 
Articolo
Author or Creator: 
Soleymani, Touraj
Trianni, Vito
Bonani, Michael
Mondada, Francesco
Dorigo, Marco
Publisher: 
North Holland, Amsterdam , Paesi Bassi
Source: 
Robotics and autonomous systems (Print) (2015). doi:10.1016/j.robot.2015.07.018
info:cnr-pdr/source/autori:Soleymani, Touraj; Trianni, Vito; Bonani, Michael; Mondada, Francesco; Dorigo, Marco/titolo:Bio-inspired construction with mobile robots and compliant pockets/doi:10.1016/j.robot.2015.07.018/rivista:Robotics and autonomous syste
Date: 
2015
Resource Identifier: 
http://www.cnr.it/prodotto/i/336535
https://dx.doi.org/10.1016/j.robot.2015.07.018
info:doi:10.1016/j.robot.2015.07.018
http://www.scopus.com/record/display.url?eid=2-s2.0-84940911676&origin=inward
Language: 
Eng
ISTC Author: 
Ritratto di Vito Trianni
Real name: