Coordinating Construction of Truss Structures Using Distributed Equal-Mass Partitioning

  • Seung-kook Yun
  • Mac Schwager
  • Daniela Rus
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 70)


This paper presents a decentralized algorithm for the coordinated assembly of 3D objects that consist of multiple types of parts, using a networked team of robots.We describe the algorithm and analyze its stability and adaptation properties. We instantiate the algorithm to building truss-like objects using rods and connectors. We implement the algorithm in simulation and show results for constructing 2D and 3D parts. Finally, we discuss briefly preliminary hardware results.


Cost Function Task Allocation Target Structure Truss Structure Assembly Task 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Seung-kook Yun
    • 1
  • Mac Schwager
    • 1
  • Daniela Rus
    • 1
  1. 1.Computer Science and Artificial Intelligence LaboratoryMassachusetts Institute of TechnologyCambridgeUSA

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