A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction
This addresses the challenge of precise robotic automation in construction, which is incremental as it builds on existing sensing and control methods.
The paper tackles the problem of enabling mobile manipulator robots to perform building tasks with high accuracy on construction sites, achieving sub-cm end-effector positioning accuracy during fully autonomous operation using on-board sensing.
We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction sites. The approach leverages multi-modal sensing capabilities for state estimation, tight integration with digital building models, and integrated trajectory planning and whole-body motion control. A novel method for high-accuracy localization updates relative to the known building structure is proposed. The approach is implemented on a real platform and tested under realistic construction conditions. We show that the system can achieve sub-cm end-effector positioning accuracy during fully autonomous operation using solely on-board sensing.