A Hybrid Aerial-Ground Robotic System for Autonomous Assembly of Interlocking Modular Structures

While aerial robots (UAVs) provide the required mobility, they lack the payload capacity and battery life necessary for meaningful construction, creating a unique logistical conundrum when building in dangerous or extraterrestrial environments. To close this gap, this study proposes a multi-agent system that combines the strength of ground robots with the agility of unmanned aerial vehicles. Rather than using conventional building blocks, we developed a specialized structural module based on a truncated octahedron geometry, fabricated from Polyethylene Terephthalate (PET). The core innovation lies in a hybrid interlocking joint that uses magnets for passive self-alignment, but relies on a mechanical shaft to prevent shear failure (a common issue in magnetic assemblies). The system incorporates a mobile ground unit that serves as both a solar-powered charging station and a material transporter to address the energy crisis common to drone operations. By simulating the assembly of funicular shells using a cellular automata algorithm, the results demonstrate that assigning logistics to ground robots allows UAVs to concentrate solely on quick placement, greatly increasing operational endurance in off-grid scenarios.

کلیدواژه ها:

Robotic Construction ، Hybrid Systems ، Modular Assembly ، UAV ، Ground Robots ، Funicular Structures