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Distributed Autonomous Robotic Systems pp 125–138Cite as

Scalable Compiler for the TERMES Distributed Assembly System

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Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 9))

Abstract

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.

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Acknowledgements

This work was supported by GETTY LABS.

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Authors and Affiliations

  1. Cornell University, Ithaca, NY, 14850, USA

    Yawen Deng, Yiwen Hua & Kirstin Petersen

  2. University at Buffalo, Buffalo, NY, 14260, USA

    Nils Napp

Authors
  1. Yawen Deng
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  2. Yiwen Hua
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  3. Nils Napp
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  4. Kirstin Petersen
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Corresponding author

Correspondence to Kirstin Petersen .

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Editors and Affiliations

  1. Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA

    Nikolaus Correll

  2. Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA

    Mac Schwager

  3. Department of Aerospace Engineering, University of Maryland, College Park, MD, USA

    Michael Otte

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Deng, Y., Hua, Y., Napp, N., Petersen, K. (2019). Scalable Compiler for the TERMES Distributed Assembly System. In: Correll, N., Schwager, M., Otte, M. (eds) Distributed Autonomous Robotic Systems. Springer Proceedings in Advanced Robotics, vol 9. Springer, Cham. https://doi.org/10.1007/978-3-030-05816-6_9

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