Autonomous Reactive Construction using Compliant Bags

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We present and validate a property-driven autonomous system that modifies its environment to achieve and maintain navigability over a highly irregular 3-dimensional terrain.

Raw Material

The cone shaped deposition model can guarantee correctness for the construction algorithm. A total of 40 bags were placed in varying terrain conditions to find the distribution for the model.

Adaptive Building Algorithm

Given a structure and a target location, the algorithm builds an access structure through a series of depositions based on local sensor readings, in order to obtain a navigable path.

The

navigable

and

reachable

regions are used for the progress of the adaptive building algorithm.

Experiments

We demonstrate the approach by running the system on a variety of terrains and with mixed materials, including both deformable and rigid components.