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A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction
(2019)2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)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 ...Conference Paper