Modular structure assembly using blackboard path planning system

Yuzuru Terada, Satoshi Murata

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006
出版社Japan Robot Association
ページ852-857
ページ数6
ISBN(印刷版)4990271718, 9784990271718
DOI
出版ステータスPublished - 2006
外部発表はい
イベント23rd International Symposium on Robotics and Automation in Construction, ISARC 2006 - Tokyo, Japan
継続期間: 2006 10 32006 10 5

出版物シリーズ

名前2006 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
国/地域Japan
CityTokyo
Period06/10/306/10/5

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 建築および建設

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