5 accepted papers
This paper explores automated robotic construction of clocháin<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup>, a type of corbelled rock shelter, traditionally crafted by skilled workers. While robots have been employed for simple dry-stacking ta
The ability to autonomously build strong, dry-stacked structures with in-situ objects would enable new robotic applications in disaster response and remote site preparation. Previous works have demonstrated that heuristics adapted from masonry manuals allow robots to build freestanding dry-stacked s
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 i…
We propose a reinforcement learning approach for automatically building dry stacked (i.e. no mortar) structures with irregular objects. Stacking irregular objects is a challenging problem since each assembly action can be drawn from a continuous space of poses for an object, and several local geomet…
We describe a method for automatically building structures from stacked, irregularly shaped objects. This is a simplified model for the problem of building dry stacked structures (i.e. no mortar) from found stones. Although automating such construction methods would be ideally suited for disaster ar…