A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction
Abel Gawel, Hermann Blum, Johannes Pankert, Koen Krämer, Luca Bartolomei, Selen Ercan, Farbod Farshidian, Margarita Chli
Abstract
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 onboard sensing.
BibTeX
@inproceedings{iros2019_afullyintegrated,
title = {A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction},
author = {Abel Gawel and Hermann Blum and Johannes Pankert and Koen Krämer and Luca Bartolomei and Selen Ercan and Farbod Farshidian and Margarita Chli and Fabio Gramazio and Roland Siegwart and Marco Hutter and Timothy Sandy},
booktitle = {IROS 2019},
year = {2019}
}