Reducing Uncertainty in Multi-Robot Construction through Perception Modelling and Adaptive Fabrication

D. Ruan, W. McGee, A. Adel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

One of the significant challenges for robotic construction with dimensional lumber and other construction materials is the accumulation of material imperfections and manufacturing inaccuracies, resulting in significant deviations between the as-built structure and its digital twin. This paper presents and evaluates methods for addressing these challenges to enable a multi-robot construction process that adaptively updates future fabrication steps to accommodate for perceived inaccuracies, improving build quality. We demonstrate through a physical stacking case study experiment that our methods can decrease fabrication deviations due to setup and calibration errors by utilizing robot perception and adaptive processes. Overall, this research advances current toolpath and task optimization strategies to help shape a comprehensive system for working with tolerance-aware robotic construction.

Original languageEnglish (US)
Title of host publicationProceedings of the 40th International Symposium on Automation and Robotics in Construction, ISARC 2023
EditorsBorja Garcia de Soto, Vicente Gonzalez, Ioannis Brilakis
PublisherInternational Association for Automation and Robotics in Construction (IAARC)
Pages25-31
Number of pages7
ISBN (Electronic)9780645832204
DOIs
StatePublished - 2023
Externally publishedYes
Event40th International Symposium on Automation and Robotics in Construction, ISARC 2023 - Chennai, India
Duration: Jul 5 2023Jul 7 2023

Publication series

NameProceedings of the International Symposium on Automation and Robotics in Construction
ISSN (Electronic)2413-5844

Conference

Conference40th International Symposium on Automation and Robotics in Construction, ISARC 2023
Country/TerritoryIndia
CityChennai
Period7/5/237/7/23

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Civil and Structural Engineering
  • Building and Construction
  • Safety, Risk, Reliability and Quality
  • Computer Science Applications
  • Artificial Intelligence

Keywords

  • Adaptive Fabrication
  • Multi-Robot Construction
  • Perception
  • Robotic Assembly
  • Timber Structures

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