Scalable Compiler for the TERMES Distributed Assembly System

  • Yawen Deng
  • Yiwen Hua
  • Nils Napp
  • Kirstin PetersenEmail author
Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 9)


The TERMES system is a robot collective capable of autonomous construction of 3D user-specified structures . A key component of the framework is an off-line compiler which takes in a structure blueprint and generates a directed map, in turn permitting an arbitrary number of robots to perform decentralized construction in a provably correct manner. In past work, this compiler was limited to a non-optimized search approach which scaled poorly with the structure size. Here, we recast the process as a constraint satisfaction problem and present new scalable compiler schemes and the ability to quickly generate provably correct maps (or find that none exist) of structures with up to 1 million bricks. We compare the performance of the compilers on a range of structures, and show how the transition probability between locations in the structure may be altered to improve system efficiency. This work represents an important step towards collective robotic construction of real-world structures.



This work was supported by GETTY LABS.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Yawen Deng
    • 1
  • Yiwen Hua
    • 1
  • Nils Napp
    • 2
  • Kirstin Petersen
    • 1
    Email author
  1. 1.Cornell UniversityIthacaUSA
  2. 2.University at BuffaloBuffaloUSA

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