论文标题
SMAC：共生多机构结构
SMAC: Symbiotic Multi-Agent Construction
论文作者
论文摘要
我们提出了一个新颖的概念，该概念是一个用于自动3D结构的异质，分布式平台。该平台由两种类型的机器人组成，这些机器人以协调和互补的方式作用：（i）一系列交流的智能构造块，表现为可生长的智能物质的一种形式，并能够计划和监视自己的状态和建筑进步； （ii）在智能块的指导下，旨在导航和修改3D结构的Inch虫形建筑商机器人团队。我们描述了硬件的设计，并介绍了支持广泛3D结构的导航和构造算法。我们证明了我们的概念的能力，并通过模拟和实体实验来表征其性能。
We present a novel concept of a heterogeneous, distributed platform for autonomous 3D construction. The platform is composed of two types of robots acting in a coordinated and complementary fashion: (i) A collection of communicating smart construction blocks behaving as a form of growable smart matter, and capable of planning and monitoring their own state and the construction progress; and (ii) A team of inchworm-shaped builder robots designed to navigate and modify the 3D structure, following the guidance of the smart blocks. We describe the design of the hardware and introduce algorithms for navigation and construction that support a wide class of 3D structures. We demonstrate the capabilities of our concept and characterize its performance through simulations and real-robot experiments.
