@inproceedings{cee7820d559942549435d5523d814c14,
title = "Errors in Collective Robotic Construction",
abstract = "We investigate the effect of errors in collective robotic construction (CRC) on both construction time and the probability of correctly completing a specified structure. We ground our investigation in the TERMES distributed construction system, which uses local sensing and stigmergic rules that enable robots to navigate and build 3D structures. We perform an in depth analysis and categorization of action failures in CRC systems. We present an approach to mitigating action failures and preventing errors that prohibit completion of a structure by adding predictive local checks. We show that the predictive local checks can increase the probability of success by orders of magnitude in large structures. This work demonstrates the need to consider both construction time and the effect of errors in collective robotic construction.",
author = "Jiahe Chen and Yifang Liu and Adam Pacheck and Hadas Kress-Gazit and Nils Napp and Kirstin Petersen",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 15th International Symposium on Distributed Autonomous Robotic Systems, DARS 2021 and 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics, SWARM 2021 ; Conference date: 01-06-2021 Through 04-06-2021",
year = "2022",
doi = "10.1007/978-3-030-92790-5_21",
language = "English",
isbn = "9783030927899",
series = "Springer Proceedings in Advanced Robotics",
publisher = "Springer Nature",
pages = "269--281",
editor = "Fumitoshi Matsuno and Shun-ichi Azuma and Masahito Yamamoto",
booktitle = "Distributed Autonomous Robotic Systems - 15th International Symposium, 2022",
}