Publications / 2004 Proceedings of the 21st ISARC, Jeju, South Korea

Developments with the NIST Automated Construction Testbed

Alan M. Lytle, Kamel S. Saidi, Nicholas A. Scott

The NIST Construction Metrology and Automation Group is researching structural steel pick-andplace operations using a robotic crane coupled with sensor data distribution and construction component identification and tracking systems. This paper outlines new developments in this research including the addition of an automated gripper mechanism for RoboCrane and 4D-CAD sequenced multi-component placement. In addition, initial efforts to incorporate high-resolution scanning LADAR (Laser Detection and Ranging) data for world modeling and high frame-rate flash LADAR data for obstacle avoidance are discussed.

Keywords: construction automation, laser tracking, LADAR imaging, robotic crane