Abstract
We identify barriers to a broader application of multi-robot systems to construction and deconstruction tasks, which represent important real-world problems, such as repairing critical infrastructure of roads and levies after a disaster. We frame these tasks as instances of the parallel bricklayer problem, where independent agents must coordinate to concurrently manipulate aspects of a 3D environment without deadlocks. We extract desirable properties of graphs representing natural 3D structures and sketch a graphical representation to model and reason about structures composed of discrete cuboid blocks. We present a sample algorithm sketch for a non-trivial structure utilizing our model.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 2550-2552 |
| Number of pages | 3 |
| Journal | Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS |
| Volume | 2023-May |
| State | Published - 2023 |
| Event | 22nd International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2023 - London, United Kingdom Duration: May 29 2023 → Jun 2 2023 |
Bibliographical note
Publisher Copyright:© 2023 International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.
Keywords
- Construction
- Graph Theory
- Multi-robot systems
- Swarm Robotics