Assembly Order Planning for Modular Structures by Autonomous Multi-Robot Systems

Tom Peters; Kenneth Cheung; Irina Kostitsyna

doi:10.1109/ICRA55743.2025.11127644

Assembly Order Planning for Modular Structures by Autonomous Multi-Robot Systems

Tom Peters
, Kenneth Cheung
, Irina Kostitsyna

Applied Geometric Algorithms

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

1 Citation (Scopus)

88 Downloads (Pure)

Abstract

Coordinated multi-agent robotic construction provides a means to build infrastructure in extreme environments and improve efficiency in high performance applications. Planning methods are key to understanding and achieving the scope of such applications, and are typically tailored to specific models of construction material and a consideration of passivity or activity thereof. Here, we focus on the NASA Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS) model, which includes passive lightweight structural modules and small robots that traverse the structure. We present an algorithm for calculating a build plan for robots under the constraints of this type of system. We then evaluate the quality of this plan experimentally. Many of the techniques we use can be applied to any robotic assembly system whose robots perform locomotion over the structure that they are building.

Original language	English
Title of host publication	2025 IEEE International Conference on Robotics and Automation, ICRA 2025
Editors	Christian Ott, Henny Admoni, Sven Behnke, Stjepan Bogdan, Aude Bolopion, Youngjin Choi, Fanny Ficuciello, Nicholas Gans, Clement Gosselin, Kensuke Harada, Erdal Kayacan, H. Jin Kim, Stefan Leutenegger, Zhe Liu, Perla Maiolino, Lino Marques, Takamitsu Matsubara, Anastasia Mavromatti, Mark Minor, Jason O'Kane, Hae Won Park, Hae-Won Park, Ioannis Rekleitis, Federico Renda, Elisa Ricci, Laurel D. Riek, Lorenzo Sabattini, Shaojie Shen, Yu Sun, Pierre-Brice Wieber, Katsu Yamane, Jingjin Yu
Publisher	Institute of Electrical and Electronics Engineers
Pages	11496-11502
Number of pages	7
ISBN (Electronic)	979-8-3315-4139-2
DOIs	https://doi.org/10.1109/ICRA55743.2025.11127644
Publication status	Published - 2 Sept 2025
Event	2025 IEEE International Conference on Robotics and Automation, ICRA 2025 - Atlanta, United States Duration: 19 May 2025 → 23 May 2025

Conference

Conference	2025 IEEE International Conference on Robotics and Automation, ICRA 2025
Country/Territory	United States
City	Atlanta
Period	19/05/25 → 23/05/25

Bibliographical note

Publisher Copyright:
© 2025 IEEE.

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10.1109/ICRA55743.2025.11127644

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Peters, T., Cheung, K., & Kostitsyna, I. (2025). Assembly Order Planning for Modular Structures by Autonomous Multi-Robot Systems. In C. Ott, H. Admoni, S. Behnke, S. Bogdan, A. Bolopion, Y. Choi, F. Ficuciello, N. Gans, C. Gosselin, K. Harada, E. Kayacan, H. J. Kim, S. Leutenegger, Z. Liu, P. Maiolino, L. Marques, T. Matsubara, A. Mavromatti, M. Minor, J. O'Kane, H. W. Park, H.-W. Park, I. Rekleitis, F. Renda, E. Ricci, L. D. Riek, L. Sabattini, S. Shen, Y. Sun, P.-B. Wieber, K. Yamane, ... J. Yu (Eds.), 2025 IEEE International Conference on Robotics and Automation, ICRA 2025 (pp. 11496-11502). Article 11127644 Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICRA55743.2025.11127644

Peters, Tom ; Cheung, Kenneth ; Kostitsyna, Irina. / Assembly Order Planning for Modular Structures by Autonomous Multi-Robot Systems. 2025 IEEE International Conference on Robotics and Automation, ICRA 2025. editor / Christian Ott ; Henny Admoni ; Sven Behnke ; Stjepan Bogdan ; Aude Bolopion ; Youngjin Choi ; Fanny Ficuciello ; Nicholas Gans ; Clement Gosselin ; Kensuke Harada ; Erdal Kayacan ; H. Jin Kim ; Stefan Leutenegger ; Zhe Liu ; Perla Maiolino ; Lino Marques ; Takamitsu Matsubara ; Anastasia Mavromatti ; Mark Minor ; Jason O'Kane ; Hae Won Park ; Hae-Won Park ; Ioannis Rekleitis ; Federico Renda ; Elisa Ricci ; Laurel D. Riek ; Lorenzo Sabattini ; Shaojie Shen ; Yu Sun ; Pierre-Brice Wieber ; Katsu Yamane ; Jingjin Yu. Institute of Electrical and Electronics Engineers, 2025. pp. 11496-11502

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abstract = "Coordinated multi-agent robotic construction provides a means to build infrastructure in extreme environments and improve efficiency in high performance applications. Planning methods are key to understanding and achieving the scope of such applications, and are typically tailored to specific models of construction material and a consideration of passivity or activity thereof. Here, we focus on the NASA Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS) model, which includes passive lightweight structural modules and small robots that traverse the structure. We present an algorithm for calculating a build plan for robots under the constraints of this type of system. We then evaluate the quality of this plan experimentally. Many of the techniques we use can be applied to any robotic assembly system whose robots perform locomotion over the structure that they are building.",

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Peters, T, Cheung, K & Kostitsyna, I 2025, Assembly Order Planning for Modular Structures by Autonomous Multi-Robot Systems. in C Ott, H Admoni, S Behnke, S Bogdan, A Bolopion, Y Choi, F Ficuciello, N Gans, C Gosselin, K Harada, E Kayacan, HJ Kim, S Leutenegger, Z Liu, P Maiolino, L Marques, T Matsubara, A Mavromatti, M Minor, J O'Kane, HW Park, H-W Park, I Rekleitis, F Renda, E Ricci, LD Riek, L Sabattini, S Shen, Y Sun, P-B Wieber, K Yamane & J Yu (eds), 2025 IEEE International Conference on Robotics and Automation, ICRA 2025., 11127644, Institute of Electrical and Electronics Engineers, pp. 11496-11502, 2025 IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, United States, 19/05/25. https://doi.org/10.1109/ICRA55743.2025.11127644

Assembly Order Planning for Modular Structures by Autonomous Multi-Robot Systems. / Peters, Tom; Cheung, Kenneth; Kostitsyna, Irina.
2025 IEEE International Conference on Robotics and Automation, ICRA 2025. ed. / Christian Ott; Henny Admoni; Sven Behnke; Stjepan Bogdan; Aude Bolopion; Youngjin Choi; Fanny Ficuciello; Nicholas Gans; Clement Gosselin; Kensuke Harada; Erdal Kayacan; H. Jin Kim; Stefan Leutenegger; Zhe Liu; Perla Maiolino; Lino Marques; Takamitsu Matsubara; Anastasia Mavromatti; Mark Minor; Jason O'Kane; Hae Won Park; Hae-Won Park; Ioannis Rekleitis; Federico Renda; Elisa Ricci; Laurel D. Riek; Lorenzo Sabattini; Shaojie Shen; Yu Sun; Pierre-Brice Wieber; Katsu Yamane; Jingjin Yu. Institute of Electrical and Electronics Engineers, 2025. p. 11496-11502 11127644.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Assembly Order Planning for Modular Structures by Autonomous Multi-Robot Systems

AU - Peters, Tom

AU - Cheung, Kenneth

AU - Kostitsyna, Irina

PY - 2025/9/2

Y1 - 2025/9/2

N2 - Coordinated multi-agent robotic construction provides a means to build infrastructure in extreme environments and improve efficiency in high performance applications. Planning methods are key to understanding and achieving the scope of such applications, and are typically tailored to specific models of construction material and a consideration of passivity or activity thereof. Here, we focus on the NASA Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS) model, which includes passive lightweight structural modules and small robots that traverse the structure. We present an algorithm for calculating a build plan for robots under the constraints of this type of system. We then evaluate the quality of this plan experimentally. Many of the techniques we use can be applied to any robotic assembly system whose robots perform locomotion over the structure that they are building.

AB - Coordinated multi-agent robotic construction provides a means to build infrastructure in extreme environments and improve efficiency in high performance applications. Planning methods are key to understanding and achieving the scope of such applications, and are typically tailored to specific models of construction material and a consideration of passivity or activity thereof. Here, we focus on the NASA Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS) model, which includes passive lightweight structural modules and small robots that traverse the structure. We present an algorithm for calculating a build plan for robots under the constraints of this type of system. We then evaluate the quality of this plan experimentally. Many of the techniques we use can be applied to any robotic assembly system whose robots perform locomotion over the structure that they are building.

U2 - 10.1109/ICRA55743.2025.11127644

DO - 10.1109/ICRA55743.2025.11127644

M3 - Conference contribution

AN - SCOPUS:105016599768

SP - 11496

EP - 11502

BT - 2025 IEEE International Conference on Robotics and Automation, ICRA 2025

A2 - Ott, Christian

A2 - Admoni, Henny

A2 - Behnke, Sven

A2 - Bogdan, Stjepan

A2 - Bolopion, Aude

A2 - Choi, Youngjin

A2 - Ficuciello, Fanny

A2 - Gans, Nicholas

A2 - Gosselin, Clement

A2 - Harada, Kensuke

A2 - Kayacan, Erdal

A2 - Kim, H. Jin

A2 - Leutenegger, Stefan

A2 - Liu, Zhe

A2 - Maiolino, Perla

A2 - Marques, Lino

A2 - Matsubara, Takamitsu

A2 - Mavromatti, Anastasia

A2 - Minor, Mark

A2 - O'Kane, Jason

A2 - Park, Hae Won

A2 - Park, Hae-Won

A2 - Rekleitis, Ioannis

A2 - Renda, Federico

A2 - Ricci, Elisa

A2 - Riek, Laurel D.

A2 - Sabattini, Lorenzo

A2 - Shen, Shaojie

A2 - Sun, Yu

A2 - Wieber, Pierre-Brice

A2 - Yamane, Katsu

A2 - Yu, Jingjin

PB - Institute of Electrical and Electronics Engineers

T2 - 2025 IEEE International Conference on Robotics and Automation, ICRA 2025

Y2 - 19 May 2025 through 23 May 2025

ER -

Peters T, Cheung K, Kostitsyna I. Assembly Order Planning for Modular Structures by Autonomous Multi-Robot Systems. In Ott C, Admoni H, Behnke S, Bogdan S, Bolopion A, Choi Y, Ficuciello F, Gans N, Gosselin C, Harada K, Kayacan E, Kim HJ, Leutenegger S, Liu Z, Maiolino P, Marques L, Matsubara T, Mavromatti A, Minor M, O'Kane J, Park HW, Park HW, Rekleitis I, Renda F, Ricci E, Riek LD, Sabattini L, Shen S, Sun Y, Wieber PB, Yamane K, Yu J, editors, 2025 IEEE International Conference on Robotics and Automation, ICRA 2025. Institute of Electrical and Electronics Engineers. 2025. p. 11496-11502. 11127644 doi: 10.1109/ICRA55743.2025.11127644

Assembly Order Planning for Modular Structures by Autonomous Multi-Robot Systems

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