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Thesis
Distributed assembly strategies for teams of autonomous robots
Master of Science (M.S.), Drexel University
Jun 2011
DOI:
https://doi.org/10.17918/etd-3734
Abstract
The distributed assembly problem involves using a team of robots to assemble a structure autonomously. The goal is to develop a strategy such that the robots assemble the structure correctly and in the most efficient way possible. This thesis outlines different single robot assembly strategies, different methods for partitioning the building tasks amongst multiple robots, and de ning the complexity of a structure to be assembled. The scope of work includes investigating different assembly strategies through design and analysis of different assembly algorithms, developing simulations to evaluate and validate the different assembly strategies, comparing the proposed methods with existing approaches, and implementing selected assembly strategies on an actual robotic testbed.
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Details
- Title
- Distributed assembly strategies for teams of autonomous robots
- Creators
- Joshua W. Rogoff - DU
- Contributors
- M. Ani Hsieh (Advisor) - Drexel University (1970-)
- Awarding Institution
- Drexel University
- Degree Awarded
- Master of Science (M.S.)
- Publisher
- Drexel University; Philadelphia, Pennsylvania
- Resource Type
- Thesis
- Language
- English
- Academic Unit
- College of Engineering (1970-2026); Mechanical Engineering (and Mechanics) [Historical]; Drexel University
- Other Identifier
- 3734; 991014632672004721