10 accepted papers
In this paper, we introduce a method for visual relocalization using the geometric information from a 3D surfel map. A visual database is first built by global indices from the 3D surfel map rendering, which provides associations between image points and 3D surfels. Surfel reprojection constraints a…
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 build…
This paper presents a novel nonlinear disturbance rejection approach for high precision model-based control of hydraulic robots. While most disturbance rejection approaches make use of observers, we propose a novel adaptive Unscented Kalman Filter to estimate the disturbances in an unbiased minimum-…
We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers greater flexibility in sensor fusion problem design than filter
In this paper, we present a fully-integrated end-effector positioning system for large-scale multi-robotic setups used for non-repetitive manufacturing tasks. The system provides static and dynamic correction of the end-effector pose using an external pose tracking system. It consists of multiple mo
In this paper we present a system for the in situ33In the context of building construction, “in situ” means that fabrication takes place at the structure's final location directly on the building site. fabrication of a full-scale, load-bearing, and doubly-curved steel reinforced concrete wall. Two c…
In this letter, a system is presented to track the motion of a sensor-head relative to multiple objects of known geometry. Measurements from a monocular camera and an inertial measurement unit are probabilistically fused in a moving horizon estimator to obtain high-accuracy estimates. Methods for de
In this work we present a co-located task space sensing and control system designed to control the end-effector motion of a mobile manipulator in the presence of dynamic and unknown base motion. We present a method for generating end-effector motion estimates at 1 kilohertz for use in real time cont…
This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic feedback controllers by solving a Constrained Sequential Linear…
Despite the prevalent use of robotic technologies in industrial manufacturing, their use on building construction sites is still very limited. This is mainly due to the unstructured nature of construction sites and the fact that the structures built must be larger than the machines which build them.