Reaching New Heights in Multi-Agent Collective Construction

TL;DR

This paper introduces ReRamp, a novel multi-agent construction planning algorithm using reversible ramps, enabling the creation of larger structures faster and demonstrating potential for real-world applications.

Contribution

The ReRamp algorithm is the first to utilize reversible ramps for scalable multi-agent construction planning, outperforming existing algorithms in speed and capability.

Findings

ReRamp generates larger structures than previous algorithms.

ReRamp demonstrates superior computational speed.

Capable of planning for single-story houses, advancing real-world application potential.

Abstract

We propose a new approach for multi-agent collective construction, based on the idea of reversible ramps. Our ReRamp algorithm utilizes reversible side-ramps to generate construction plans for ramped block structures higher and larger than was previously possible using state-of-the-art planning algorithms, given the same building area. We compare the ReRamp algorithm to similar state-of-the-art algorithms on a set of benchmark instances, where we demonstrate its superior computational speed. We also establish in our experiments that the ReRamp algorithm is capable of generating plans for a single-story house, an important milestone on the road to real-world multi-agent construction applications.