Autonomous assembly of structures using pinning control and formation algorithms

In this paper, we propose an autonomous construction system for building structures composed of multiple mobile robots. We use formation control techniques to guide the mobile robots to the desired positions in the structure, and pinning control methodologies to guide the group of robots to desired mounting locations. We also present here a technique for modelling the system based on network control theory. We demonstrate how our network-based approach for autonomous assembly must communicate with the robots in a system architecture diagram. In order to validate our approach, we show a simulation trial of the assembly of a pyramidal structure with nine robots.