A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction

TL;DR

This paper introduces a fully-integrated sensing and control system enabling mobile robots to perform building construction tasks with millimeter precision, utilizing multi-modal sensing, digital models, and advanced control.

Contribution

It presents a novel high-accuracy localization method and demonstrates autonomous construction with sub-centimeter precision using only onboard sensors.

Findings

Achieves sub-centimeter end-effector accuracy in autonomous operation

Successfully tested on a real construction platform under realistic conditions

Integrates multi-modal sensing with digital building models for precise control

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 on-board sensing.