Experiments in decentralized robot construction with tool delivery and assembly robots

Our prior work [1] presented a decentralized algorithm for coordinating the construction of truss shaped objects out of multiple components (rods and connectors). In this paper, we consider how to transfer the theory to practice, implementing the algorithm to create a decentralized multi robot construction system. The system is composed of mobile manipulators and smarts parts with an embedded communication device. We discuss the delivery and assembly algorithms that comprise this system and the assumptions behind them. We present data from extensive hardware experiments with 4 robots coordinating an assembly task.