A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction
- Conference Paper
Rights / licenseIn Copyright - Non-Commercial Use Permitted
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. Show more
Book title2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages / Article No.
Organisational unit03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
03708 - Gramazio, Fabio / Gramazio, Fabio
09570 - Hutter, Marco / Hutter, Marco
09559 - Chli, Margarita (SNF-Professur) / Chli, Margarita (SNF-Professur)
03709 - Kohler, Matthias / Kohler, Matthias
NotesConference lecture on November 5, 2019.
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