Supervisory Control in Construction Robotics: in the Quest for Scalability and Permissiveness. Issue 4 (2020)

• Record Type: Journal Article
• Authors: Rosa, Marcelo; Cury, José E.R.; Baldissera, Fabio L.
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 4(2020)
• Page Start: 117
• Page End: 122
• Publication Date: 2020
• Subjects: Autonomous construction -- Mobile robots -- Extended finite-machines -- Supervisory Control Theory; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2021.04.012
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: 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.