In this article, we present a mechanism and related path planning algorithm to construct light-duty barriers out of extruded, inflated tubes weaved around existing environmental features. Our extruded tubes are based on everted vine-robots and in this context, we present a new method to steer their growth. We characterize the mechanism in terms of accuracy resilience, and, towards their use as barriers, the ability of the tubes to withstand distributed loads. We further explore an algorithm which, given a feature map and the size and direction of the external load, can determine where and how to extrude the barrier. Finally, we showcase the potential of this method in an autonomously extruded two-layer wall weaved around three pipes. While preliminary, our work indicates that this method has the potential for barrier construction in cluttered environments, e.g. shelters against wind or snow. Future work may show how to achieve tighter weaves, how to leverage weave friction for improved strength, how to assess barrier performance for feedback control, and how to operate the extrusion mechanism off of a mobile robot.

翻译：本文提出了一种机制及相关路径规划算法，利用挤出式充气管道围绕环境中的现有特征进行编织，从而构建轻型障碍物。我们的挤出管道基于外翻式藤蔓机器人，并在此基础上提出了一种控制其生长方向的新方法。我们从精度鲁棒性角度对该机制进行了表征，并针对其在障碍物中的应用，测试了管道承受分布载荷的能力。进一步地，我们探索了一种算法，该算法根据特征地图及外部载荷的大小与方向，能够确定障碍物的挤出位置与方式。最后，我们通过围绕三根管道自主挤出双层编织墙展示了该方法的潜力。尽管尚处于初步阶段，我们的研究表明该方法在杂乱环境中（例如防风或防雪掩体）具有障碍物构建的潜力。未来工作可能涉及实现更紧密的编织、利用编织摩擦力增强结构强度、评估障碍物性能以实施反馈控制，以及在移动机器人上部署挤出机制。