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ACHORD: Communication-Aware Multi-Robot Coordination With Intermittent Connectivity

https://doi.org/10.1109/LRA.2022.3193240

Saboia, Maira ; Clark, Lillian ; Thangavelu, Vivek ; Edlund, Jeffrey A. ; Otsu, Kyohei ; Correa, Gustavo J. ; Varadharajan, Vivek Shankar ; Santamaria-Navarro, Angel ; Touma, Thomas ; Bouman, Amanda ; et al ( October 2022 , IEEE Robotics and Automation Letters)

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Autonomous multi-material construction with a heterogeneous robot team

https://doi.org/10.1016/j.robot.2019.07.009

Saboia, Maira ; Thangavelu, Vivek ; Napp, Nils ( November 2019 , Robotics and Autonomous Systems)

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Approximate Stability Analysis for Drystacked Structures

Liu, Yifang ; Saboia, Maira ; Thangavelu, Vivek ; Napp, Nils ( May 2019 , International Conference on Robotics and Automation (ICRA2019))

We introduce a fast approximate stability analysis into an automated dry stacking procedure. Evaluating structural stability is essential for any type of construction, but especially challenging in techniques where building elements remain distinct and do not use fasteners or adhesives. Due to the irregular shape of construction materials, autonomous agents have restricted knowledge of contact geometry, which makes existing analysis tools difficult to deploy. In this paper, a geometric safety factor called kern is used to estimate how much the contact interface can shrink and the structure still be feasible, where feasibility can be checked efficiently using linear programming. We validate the stability measure by comparing the proposed methods with a fully simulated shaking test in 2D. We also improve existing heuristics-based planning by adding the proposed measure into the assembly process.
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