Hierarchical Planning for Long-Horizon Multi-Agent Collective Construction
Shambhavi Singh,Zejian Huang,Akshaya Kesarimangalam Srinivasan,Geordan Gutow,Bhaskar Vundurthy,Howie Choset,Shambhavi Singh,Zejian Huang,Akshaya Kesarimangalam Srinivasan,Geordan Gutow,Bhaskar Vundurthy,Howie Choset
We develop a planner that directs robots to construct a 3D target structure composed of blocks. The robots themselves are cubes of the same size as the blocks, and they may place, carry, or remove one block at a time. When moving, robots are also allowed to climb or descend a block. A construction plan may thus build a staircase-like scaffolding of blocks to reach other blocks at higher levels. Th...
