Behavior-based multi-robot collaboration for autonomous construction tasks

TLDR

The robot construction crew (RCC) is a heterogeneous multi‑robot system designed to autonomously assemble long components into structures. RCC employs a behavior‑based architecture that coordinates component acquisition, cooperative transport, and precision manipulation to achieve autonomous construction. The two‑robot RCC team successfully places components into an existing structure in a realistic setting while minimizing computation, power, communication, and sensing demands, making it suitable for both space and terrestrial construction.

Abstract

The robot construction crew (RCC) is a heterogeneous multi-robot system for autonomous construction of a structure through assembly of long components. The two-robot team demonstrates component placement into an existing structure in a realistic environment. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. A behavior-based architecture provides adaptability. The RCC approach minimizes computation, power, communication, and sensing for applicability to space-related construction efforts, but the techniques are applicable to terrestrial construction tasks.