Holistic Construction Automation with Modular Robots: From High-Level Task Specification to Execution

• URL: http://arxiv.org/abs/2412.20867v1
• Date: Mon, 30 Dec 2024 11:11:13 GMT
• Title: Holistic Construction Automation with Modular Robots: From High-Level Task Specification to Execution
• Authors: Jonathan Külz, Michael Terzer, Marco Magri, Andrea Giusti, Matthias Althoff,
• Abstract summary: In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a holistic framework for construction task specification, optimization of robot morphology, and mission execution using a mobile modular reconfigurable robot.
• Score: 7.012962572096341
• License:
• Abstract: In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a holistic framework for construction task specification, optimization of robot morphology, and mission execution using a mobile modular reconfigurable robot. Users can specify and monitor the desired robot behavior through a graphical interface. Our framework identifies an optimized robot morphology and enables automatic real-world execution by integrating Building Information Modelling (BIM). By leveraging modular robot components, we ensure seamless and fast adaption to the specific demands of the construction task. Experimental validation demonstrates that our approach robustly enables the autonomous execution of robotic drilling.

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