{"type":"ScholarlyArticle","title":"Greedy Stone Tower Creations with a Robotic Arm","authors":[{"name":"Martin Wermelinger","slug":"martin-wermelinger","given":"Martin","family":"Wermelinger","affiliation":"Robotic Systems Lab , ETH Zurich , Switzerland"},{"name":"Fadri Furrer","slug":"fadri-furrer","given":"Fadri","family":"Furrer","affiliation":"Autonomous Systems Lab , ETH Zurich , Switzerland"},{"name":"Hironori Yoshida","slug":"hironori-yoshida","given":"Hironori","family":"Yoshida","affiliation":"Preferred Networks, Inc ,"},{"name":"Fabio Gramazio","slug":"fabio-gramazio","given":"Fabio","family":"Gramazio","affiliation":"Gramazio Kohler Research , ETH Zurich , Switzerland"},{"name":"Matthias Kohler","slug":"matthias-kohler","given":"Matthias","family":"Kohler","affiliation":"Gramazio Kohler Research , ETH Zurich , Switzerland"},{"name":"Roland Siegwart","slug":"roland-siegwart","given":"Roland","family":"Siegwart","affiliation":"Autonomous Systems Lab , ETH Zurich , Switzerland"},{"name":"Marco Hutter","slug":"marco-hutter","given":"Marco","family":"Hutter","affiliation":"Robotic Systems Lab , ETH Zurich , Switzerland"}],"abstract":"Predominately, robotic construction is applied as prefabrication in structured indoor environments with standard building materials. Our work, on the other hand, focuses on utilizing irregular materials found on-site, such as rubble and rocks, for autonomous construction. We present a pipeline to detect arbitrarily placed objects in a scene and form a structure out of the detected objects. The next best stacking pose is selected using a searching method employing gradient descent with random initial orientations, exploiting a physics engine. This approach is validated in an experimental setup using a robotic manipulator by constructing balancing vertical stacks without mortars and adhesives. We show the results of eleven consecutive trials to form such towers autonomously using four arbitrarily in front of the robot placed rocks.","doi":"10.24963/ijcai.2018/760","url":"https://ijcai.org/proceedings/2018/760","pdf":"https://ijcai.org/proceedings/2018/0760.pdf","markdown":"https://ijcai.org/proceedings/2018/760.md","bibtex":"https://ijcai.org/proceedings/2018/bibtex/760","volume":{"slug":"2018","title":"Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2018","url":"https://ijcai.org/proceedings/2018/","year":2018,"location":"Stockholm","dates":"13-19 July 2018","editors":"Jérôme Lang","isbn":"978-0-9992411-2-7","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2018"},"section":"Sister Conferences Best Papers","track":"Best Sister Conferences","number":760,"pages":{"first":5394,"last":5398},"keywords":["Robotics: Robotics and Vision","Robotics: Manipulation","Planning and Scheduling: Planning Algorithms"],"videos":[],"references":[{"position":1,"raw":"[Alliez et al., 2016] Pierre Alliez, Clément Jamin, Quentin Mérigot, Jocelyn Meyron, Laurent Saboret, Nader Salman, and Shihao Wu. 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