Modular structure assembly using blackboard path planning system

Yuzuru Terada, Satoshi Murata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

Construction work should be simplified by introducing modularity into both structural components and means of assembly. Based on this idea, we have proposed a novel concept of fully automated construction system called Automatic Modular Assembly System (AMAS), which drastically reduces the difficulty of automated construction task. In this paper, we focus on distributed control method of the assembler robots. The area on which the assembler robots can move dynamically expand during the construction process. We introduce a gradient field to indicate the directions based on current map to the assembler robots. The structure modules generate the gradient field by using neighbor-to-neighbor communication. We assume large number of modules and robots; therefore we need to organize the motion paths of these robots to avoid collision among them. An algorithm which is based on blackboard algorithm allows robots to search their paths in the spatiotemporal space.

Original languageEnglish
Title of host publication2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006
PublisherJapan Robot Association
Pages852-857
Number of pages6
ISBN (Print)4990271718, 9784990271718
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event23rd International Symposium on Robotics and Automation in Construction, ISARC 2006 - Tokyo, Japan
Duration: 2006 Oct 32006 Oct 5

Publication series

Name2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006

Other

Other23rd International Symposium on Robotics and Automation in Construction, ISARC 2006
Country/TerritoryJapan
CityTokyo
Period06/10/306/10/5

Keywords

  • Automatic modular assembly system(AMAS)
  • Distributed autonomous systems(DAS)
  • Gradient field
  • Swarm robotics

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Building and Construction

Fingerprint

Dive into the research topics of 'Modular structure assembly using blackboard path planning system'. Together they form a unique fingerprint.

Cite this