2024
Hierarchical Planning for Long-Horizon Multi-Agent Collective Construction
Shambhavi Singh, Zejian Huang, Akshaya Kesarimangalam Srinivasan, Geordan Gutow, Bhaskar Vundurthy, Howie Choset
ICRA 2024poster
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 p…