Supervisory Control in Construction Robotics: in the Quest for Scalability and Permissiveness

In this paper we present a solution to a particular problem from the more general field of construction robotics. The problem we deal with consists of employing one or more mobile robots to autonomously build a user-defined 3-D structure composed of bricks of the same size. Our approach is based on...

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Bibliographic Details
Main Authors: Rosa, Marcelo, Cury, José E.R., Baldissera, Fabio L.
Format: Conference Proceeding
Language:English
Subjects:
Autonomous construction
Extended finite-machines
Mobile robots
Supervisory Control Theory
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Summary:In this paper we present a solution to a particular problem from the more general field of construction robotics. The problem we deal with consists of employing one or more mobile robots to autonomously build a user-defined 3-D structure composed of bricks of the same size. Our approach is based on Supervisory Control Theory for extended finite-state machines. The main point of our paper is to communicate our first findings on how the solution to the one-robot scenario could be modified to yield a solution to the multiple-robot scenario. Along the way we examine the scalability, completeness and non-blockingness of our proposed approach and discuss future perspectives.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2021.04.012