Errors in Collective Robotic Construction

Jiahe Chen; Yifang Liu; Adam Pacheck; Hadas Kress-Gazit; Nils Napp; Kirstin Petersen

doi:10.1007/978-3-030-92790-5_21

Errors in Collective Robotic Construction

Jiahe Chen
, Yifang Liu
, Adam Pacheck
, Hadas Kress-Gazit
, Nils Napp
, Kirstin Petersen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

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.

Original language	English
Title of host publication	Distributed Autonomous Robotic Systems - 15th International Symposium, 2022
Editors	Fumitoshi Matsuno, Shun-ichi Azuma, Masahito Yamamoto
Publisher	Springer Nature
Pages	269-281
Number of pages	13
ISBN (Print)	9783030927899
DOIs	https://doi.org/10.1007/978-3-030-92790-5_21
State	Published - 2022
Externally published	Yes
Event	15th International Symposium on Distributed Autonomous Robotic Systems, DARS 2021 and 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics, SWARM 2021 - Virtual Online Duration: Jun 1 2021 → Jun 4 2021

Publication series

Name	Springer Proceedings in Advanced Robotics
Volume	22 SPAR
ISSN (Print)	2511-1256
ISSN (Electronic)	2511-1264

Conference

Conference	15th International Symposium on Distributed Autonomous Robotic Systems, DARS 2021 and 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics, SWARM 2021
City	Virtual Online
Period	06/1/21 → 06/4/21

Funding

Acknowledgments. This project was funded by the Packard Fellowship for Science and Engineering, GETTYLABS, and the National Science Foundation (NSF) Grant #1846340 and #2042411.

Access to Document

10.1007/978-3-030-92790-5_21

Cite this

Chen, J., Liu, Y., Pacheck, A., Kress-Gazit, H., Napp, N., & Petersen, K. (2022). Errors in Collective Robotic Construction. In F. Matsuno, S. Azuma, & M. Yamamoto (Eds.), Distributed Autonomous Robotic Systems - 15th International Symposium, 2022 (pp. 269-281). (Springer Proceedings in Advanced Robotics; Vol. 22 SPAR). Springer Nature. https://doi.org/10.1007/978-3-030-92790-5_21

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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",

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Chen, J, Liu, Y, Pacheck, A, Kress-Gazit, H, Napp, N & Petersen, K 2022, Errors in Collective Robotic Construction. in F Matsuno, S Azuma & M Yamamoto (eds), Distributed Autonomous Robotic Systems - 15th International Symposium, 2022. Springer Proceedings in Advanced Robotics, vol. 22 SPAR, Springer Nature, pp. 269-281, 15th International Symposium on Distributed Autonomous Robotic Systems, DARS 2021 and 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics, SWARM 2021, Virtual Online, 06/1/21. https://doi.org/10.1007/978-3-030-92790-5_21

Errors in Collective Robotic Construction. / Chen, Jiahe; Liu, Yifang; Pacheck, Adam et al.
Distributed Autonomous Robotic Systems - 15th International Symposium, 2022. ed. / Fumitoshi Matsuno; Shun-ichi Azuma; Masahito Yamamoto. Springer Nature, 2022. p. 269-281 (Springer Proceedings in Advanced Robotics; Vol. 22 SPAR).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Chen, Jiahe

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AU - Pacheck, Adam

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AU - Petersen, Kirstin

PY - 2022

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AB - 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.

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Errors in Collective Robotic Construction

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