A Stewart-Platform based manipulator: general theory and practical construction
International Journal of Robotics Research
STOC '88 Proceedings of the twentieth annual ACM symposium on Theory of computing
Journal of Algorithms
On-line algorithms for weighted bipartite matching and stable marriages
Theoretical Computer Science
Theoretical Improvements in Algorithmic Efficiency for Network Flow Problems
Journal of the ACM (JACM)
Modular Robot Motion Planning Using Similarity Metrics
Autonomous Robots
Crystalline Robots: Self-Reconfiguration with Compressible Unit Modules
Autonomous Robots
The Online Transportation Problem
ESA '95 Proceedings of the Third Annual European Symposium on Algorithms
A Planning System For Robot Construction Tasks
A Planning System For Robot Construction Tasks
Randomized online algorithms for minimum metric bipartite matching
SODA '06 Proceedings of the seventeenth annual ACM-SIAM symposium on Discrete algorithm
Anthills built to order: automating construction with artificial swarms
Anthills built to order: automating construction with artificial swarms
Automatic Configuration Recognition Methods in Modular Robots
International Journal of Robotics Research
Three-Dimensional Construction with Mobile Robots and Modular Blocks
International Journal of Robotics Research
Stochastic strategies for a swarm robotic assembly system
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Roombots: mechanical design of self-reconfiguring modular robots for adaptive furniture
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Graph signature for self-reconfiguration planning of modules with symmetry
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Evolved and Designed Self-Reproducing Modular Robotics
IEEE Transactions on Robotics
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In this paper, we develop self-assembling robot systems composed of active modular robots and passive bars. The target structure is modeled as a dynamic graph. We present two provably correct algorithms for creating the structure. A decentralized optimal algorithm for the navigation of multiple modular robots on a partial truss structure is used to guide the robots to their location on the target structure. A decentralized algorithm for scheduling the transportation and placement of truss elements is used to coordinate the creation of the target structure. Both algorithms rely on locally optimal matching. The truss self-assembly algorithm has quadratic competitive ratio for static as well as dynamic graph representation. We show simulation results and results for experiments with two 3DOF robots and passive bars that can create and control a 6DOF manipulation.