Robot Collaboration

As a step towards further automation, we enable multiple robots to collaborate towards a specified goal. Examples of such behavior are shown below.

The part-inventory manager first maps its workspace and inventories the parts on the workspace together with their positions. Once the builder receives a structure specification, it asks the part-inventory manager for the requisite parts. The part-inventory manager then picks up a required part and puts it down in the exchange area, from where the builder picks it up and incorporates it into the structure under construction.

It is important to note that the pick up and put down actions are not driven by dead reckoning, instead relying on visual servoing based on characteristics of the parts in question.

Structure A
Structure B
Structure C
Structure D

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