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2006
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Combinatorial Optimization of Sensing for Rule-Based Planar Distributed Assembly

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Combinatorial Optimization of Sensing for Rule-Based Planar Distributed Assembly
Abstract— We describe a model for planar distributed assembly, in which agents move randomly and independently on a twodimensional grid, joining square blocks together to form a desired target structure. The agents have limited capabilities, including local sensing and rule-based reactive control only, and operate without centralized coordination. We define the spatiotemporal constraints necessary for the ordered assembly of a structure and give a procedure for encoding these constraints in a rule set, such that production of the desired structure is guaranteed. Our main contribution is a stochastic optimization algorithm which is able to significantly reduce the number of environmental features that an agent must recognize to build a structure. Experiments show that our optimization algorithm outperforms existing techniques.
Jonathan Kelly, Hong Zhang
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Jonathan Kelly, Hong Zhang
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