Behavior-based multi-robot collaboration for autonomous construction tasks

The Robot Construction Crew (RCC) is a heterogeneous mules-robot system for autonomous construction of a structure through assembly of long components. The two-robot team demonstrates component placement into an existing structure in a realistic environment. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. A behavior-based architecture provides adaptability. The RCC approach minimizes computation, power, communication, and sensing for applicability to space-related construction efforts, but the techniques are applicable to terrestrial construction tasks.