Distributed amorphous ramp construction in unstructured environments

Abstract

SUMMARY We present a model of construction using iterative amorphous depositions and give a distributed algorithm to reliably build ramps in unstructured environments. The relatively simple local strategy for interacting with irregularly shaped, partially built structures gives rise to robust adaptive global properties. We illustrate the algorithm in both single robot and multi-robot cases via simulations and describe how to solve key technical challenges to implementing this algorithm via a robotic prototype.