Autonomous Mobile Assembly - Robotics Institute Carnegie Mellon University

Autonomous Mobile Assembly

Portrait of Autonomous Mobile Assembly
Associated Lab: Field Robotics Center (FRC)
This Project is no longer active.

The ACE project is concerned with autonomous mobile assembly. A mobile manipulator is assigned to acquire a piece and insert it in a predefined spot. The piece and target slot are not accurately localized ahead of time, so online visual tracking and servoing are necessary. The mobile manipulation control must be accurate and precise enough to insert a piece when the slot has less than 2 cm room for error. The system is entirely autonomous, which requires robust error recovery.

current head

Portrait of Reid Simmons
Reid Simmons
Portrait of Sanjiv Singh
Sanjiv Singh

current staff

Portrait of Bradley Hamner
Bradley Hamner
Portrait of Frederik Heger
Frederik Heger
Portrait of Nicholas Melchior
Nicholas Melchior

current contact

Portrait of Sanjiv Singh
Sanjiv Singh

past staff

  • Seth C Koterba