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Published on Sep 7, 2010
Lonelybuilder, a marxbot with a magnetic manipulator performing autonomous construction.
At the beginning of the experiment, the robot knows neither the geometry nor the topology of the environment. It does not know where the resources are located. The robot does know that building a tower requires three resources, and that a remote resource can be fetched by building a bridge. In the video, the decision to build this specific bridge to fetch the remote resources was the robot's own one, done by reasoning using an HTN planner, whose source code is available at http://gitorious.org/planner9 .