Dylan Scott, Ya-Jun Pan, and Xiang Gong
Multi-agent systems, distributed control, intelligent beacons
A mechanism used by social insects for the purpose of construction is construction templates. Similar to blueprints, a construction template is used by insects to guide where building material is deposited. The mechanisms these simple agents use can be manipulated and adapted for use by likewise simple robotic swarms in hopes that these robotic agents will automate human scale constructions. This paper describes a method by which the template based method of construction is extended, enabling structures of any shape consisting solely of straight lines to be built. This extension occurs by placing a certain amount of intelligence within the template and is accomplished through the use of intelligent beacons, which are positioned by the robots according to a high-level plan specialized by a human user. The intelligent beacons use a trip-line approach to trigger material deposition. Simulations and a hardware prototype are used to demonstrate the effectiveness of the proposed system with respect to planar shapes.
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