three-dimensional directed constructionmmoll/rss06/slides/werfel.pdf · focus on design of...
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Three-DimensionalDirected Construction
Justin WerfelRadhika NagpalHarvard University
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Claytronics
M-TRAN IIIMolecule
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Everist, J., Mogharei, K., Suri, H.,Ranasinghe, N., Khoshnevis, B., Will, P., &Shen, W. (2004). A system for in-spaceassembly. In Proc. IROS 2004, Sendai, Japan.
Terada, Y., & Murata, S. (2004).Automatic assembly system for a large-scale modular structure: hardwaredesign of module and assembler robot.In Proc. IROS 2004, Sendai, Japan.
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Focus on design of distributed algorithms
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Focus on design of distributed algorithms
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Focus on design of distributed algorithms
IJCAI 2005
IEEE Intelligent Systems, 2006
ICRA 2006
AAAI 2006
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Focus on design of distributed algorithms
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Assumptions
• Weightless environment• Robots
– Bring blocks to structure– Move in any direction along surface
• Blocks– Cubic– Physical movement restrictions
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Movement constraints
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Building a desired structure
• Figure out where blocks go– Communicating blocks coordinate process
• Shared coordinate system• Explicit representation of desired structure• Blocks tell robots where to attach
– Avoid dead ends
• Get them there– Comparison of three algorithms
• Systematic search• Random walk• Gradient following
(3,1,2) (4,1,2)
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Jones, C. & Matarić, M. (2003). From local toglobal behavior in intelligent self-assembly. InProc. ICRA 2004, Taipei, Taiwan.
White, P., Zykov, V., Bongard, J., & Lipson, H.(2005). Three dimensional stochastic
reconfiguration of modular robots.In Proc. RSS 2005, Cambridge, MA, USA.
Klavins, E., Ghrist, R., & Lipsky, J. (2006).A grammatical approach to self-organizingrobotic systems.IEEE Transactions on Automatic Control.
Programmed self-assembly
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Building a desired structure
• Figure out where blocks go– Communicating blocks coordinate process
• Shared coordinate system• Explicit representation of desired structure• Blocks tell robots where to attach
– Avoid dead ends
• Get them there– Comparison of three algorithms
• Systematic search• Random walk• Gradient following
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Restrictions on attachment
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Restrictions on attachment
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Restrictions on attachment
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Restrictions on attachment
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Block algorithm
• From neighbors, get coordinates, blueprint,and info on previous attachment
• For site at each open face, check:1. Blueprint specifies block there
2. No separated blocks in any row
3. No separated blocks in any plane
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Block algorithm
• Sufficient to build any desired solidstructure, if intended concavities arewide enough to accommodate robots
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Number of blocks
Num
ber
of m
essa
ges
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Number of blocks
Num
ber
of m
essa
ges
per
bloc
k
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Building a desired structure
• Figure out where blocks go– Communicating blocks coordinate process
• Shared coordinate system• Explicit representation of desired structure• Blocks tell robots where to attach
– Avoid dead ends
• Get them there– Comparison of three algorithms
• Systematic search• Random walk• Gradient following
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Building a desired structure
• Figure out where blocks go– Communicating blocks coordinate process
• Shared coordinate system• Explicit representation of desired structure• Blocks tell robots where to attach
– Avoid dead ends
• Get them there– Comparison of three algorithms
• Systematic search• Random walk• Gradient following
![Page 28: Three-Dimensional Directed Constructionmmoll/RSS06/slides/werfel.pdf · Focus on design of distributed algorithms IJCAI 2005 IEEE Intelligent Systems, 2006 ICRA 2006 AAAI 2006](https://reader033.vdocument.in/reader033/viewer/2022052018/6031d4c793c82d72116ec122/html5/thumbnails/28.jpg)
Dis
tanc
e
Mes
sage
s
Dis
tanc
e
Mes
sage
s
Dis
tanc
e
Mes
sage
s
Dis
tanc
e
Mes
sage
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Summary
• Decentralized algorithmic approach toautomatic construction of solid 3-Dstructures
• Relevant to existing hardware systems– Bipartite (robots + blocks)– Homogenous