@inproceedings{50295f630e0342f4ba7f0cc849ce4f9a,
title = "Reducing Uncertainty in Multi-Robot Construction through Perception Modelling and Adaptive Fabrication",
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.",
keywords = "Adaptive Fabrication, Multi-Robot Construction, Perception, Robotic Assembly, Timber Structures",
author = "D. Ruan and W. McGee and A. Adel",
note = "Publisher Copyright: {\textcopyright} ISARC 2023. All rights reserved.; 40th International Symposium on Automation and Robotics in Construction, ISARC 2023 ; Conference date: 05-07-2023 Through 07-07-2023",
year = "2023",
doi = "10.22260/ISARC2023/0006",
language = "English (US)",
series = "Proceedings of the International Symposium on Automation and Robotics in Construction",
publisher = "International Association for Automation and Robotics in Construction (IAARC)",
pages = "25--31",
editor = "{Garcia de Soto}, Borja and Vicente Gonzalez and Ioannis Brilakis",
booktitle = "Proceedings of the 40th International Symposium on Automation and Robotics in Construction, ISARC 2023",
address = "Finland",
}