/TRESTLE: Autonomous Assembly by Teams of Coordinated Robots

TRESTLE: Autonomous Assembly by Teams of Coordinated Robots

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Head: Sanjiv Singh
Contact: Sanjiv Singh
Associated Lab: Human-Robot Interaction Group
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Last Project Publication Year: 2008

Autonomous assembly of large structures will require teams of robots. Much like any human work crew, heterogeneous capabilities will also be necessary. The TRESTLE project is developing the architectural framework necessary to coordinate robots performing complex assembly projects. In specific, the project seeks to develop architectural tools used to coordinate actions performed by multiple robots. These tools form the core of an executive layer that orchestrates and monitors tasks across robots to perform assembly tasks. Since the number of possible failure modes over many robots working on long sequences of actions is high, TRESTLE incorporates the ability of humans to cooperatively manage tasks. By employing Sliding Autonomy, we allow the operator to manage the assembly in three different ways. First, a portion of the system’s tasks can be predefined to be under operator control. Second, the operator can intervene and manually switch the system to operator control. Third, the system can automatically shift to operator control after a failure.

TRESTLE will examine tasks such as:

  • Truss Assembly: Truss assembly includes retrieving materials from stockpiles, moving materials to the worksite, coordinating assembly with other agents, and mating compliant structures without causing collisions between agents and the infrastructure.
  • Bracing: Cable bracing under tension can often add strength and rigidity to truss structures. Bracing along the diagonals of a cube, for example, can greatly increase its strength with minimal increase in weight.
  • Wiring: Many structures need to be wired after assembly. Though wiring need not be tensioned, as in the case of bracing, but may have complex connectors or irregular waypoints.
Displaying 11 Publications
Overcoming Sensor Noise for Low-Tolerance Autonomous Assembly
Brennan Peter Sellner, Frederik Heger, Laura Hiatt, Nicholas Melchior, Stephen Roderick, David Akin, Reid Simmons and Sanjiv Singh

Conference Paper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2008), pp. 4017-4023, September, 2008
Human-Robot Teams for Large-Scale Assembly
Reid Simmons, Sanjiv Singh, Frederik Heger, Laura M. Hiatt, Seth C. Koterba, Nicholas Melchior and Brennan Peter Sellner

Conference Paper, Proceedings of the NASA Science Technology Conference 2007 (NSTC-07), May, 2007
Towards Proactive Replanning for Multi-Robot Teams
Brennan Peter Sellner and Reid Simmons

Conference Paper, Proceedings of the 5th International Workshop on Planning and Scheduling in Space 2006, October, 2006
Sliding Autonomy for Complex Coordinated Multi-Robot Tasks: Analysis & Experiments
Frederik Heger and Sanjiv Singh

Conference Paper, In Proceedings, Robotics: Systems and Science, August, 2006
Coordinated Multi-Agent Teams and Sliding Autonomy for Large-Scale Assembly
Brennan Peter Sellner, Frederik Heger, Laura Hiatt, Reid Simmons and Sanjiv Singh

Journal Article, Proceedings of the IEEE - Special Issue on Multi-Robot Systems, Vol. 94, No. 7, pp. 1425 - 1444, July, 2006
Attaining Situational Awareness for Sliding Autonomy
Brennan Peter Sellner, Laura M. Hiatt, Reid Simmons and Sanjiv Singh

Conference Paper, Proceedings of HRI 2006, March, 2006
Results in Sliding Autonomy for Multi-robot Spatial Assembly
Frederik Heger, Laura Hiatt, Brennan Peter Sellner, Reid Simmons and Sanjiv Singh

Conference Paper, Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, September, 2005
User Modelling for Principled Sliding Autonomy in Human-Robot Teams
Brennan Peter Sellner, Reid Simmons and Sanjiv Singh

Workshop Paper, Proceedings of the NRL Multirobot Workshop 2005, January, 2005
Enhancing Multi-Robot Coordinated Teams with Sliding Autonomy
Jonathan Brookshire

Master's Thesis, Tech. Report, CMU-RI-TR-04-40, Robotics Institute, Carnegie Mellon University, May, 2004
Preliminary Results in Sliding Autonomy for Coordinated Teams
Jonathan Brookshire, Sanjiv Singh and Reid Simmons

Conference Paper, Proceedings of The 2004 Spring Symposium Series, March, 2004
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