Autonomous construction of structures in a dynamic environment using Reinforcement Learning

摘要

This paper presents an adaptive approach based on the Reinforcement Learning (RL) method to manipulate and transport parts and also assemble 3-D structures in a moderately constrained and dynamic environment using a quad-rotor. Nowadays, complex construction tasks using mobile robots are characterized by two fundamental problems such as task planning and motion planning. However, to obtain the task and path planning that define a specific sequence of operations for construction of a given structure is generally very complex. In this context, we propose and investigate a system in which an aerial robot learns the assembly and construction tasks of multiple 3-D structures. This process involves the learning of the sequence of maneuvers of a vehicle, the assembly sequence of the parts and also the correct types of structural elements for each assembly point of the structure. A heuristic search algorithm is used in the learning process to find the optimal path for the quad-rotor so that its navigation through the dynamic environment is performed. The experimental results show that a 3-D structure can be built using the task planning approach derived from a learning algorithm combined with a heuristic search method.