Publications / 2020 Proceedings of the 37th ISARC, Kitakyushu, Japan

Online Synchronization of Building Model for On-Site Mobile Robotic Construction

Selen Ercan Jenny, Hermann Blum, Abel Gawel, Roland Siegwart, Fabio Gramazio and Matthias Kohler
Pages 1508-1514 (2020 Proceedings of the 37th ISARC, Kitakyushu, Japan, ISBN 978-952-94-3634-7, ISSN 2413-5844)

This research presents a novel method for a data flow that synchronizes building information with the robot map and updates building components to their "as-built" states, in order to facilitate an on-site mobile construction process. Our experiments showcase mobile mapping and localization of a robotic platform featuring segmentation, plane association and quantitative evaluation of deviations. For the users of the on-site mobile robotic system, we present a suitable interface that allows for task level commanding and the selection of target and reference building components (i.e. walls, floor, ceiling). Additionally, this interface seamlessly integrates the online workflow between building construction and the robot map, updating the target building components to their "as-built" states in real time and providing a visual representation of additional task-specific attributes for building components in the robot map, in addition to geometries. This is presented as a first step toward integrating users of the system into the proposed robotic workflow to develop decisionmaking strategies for fitting building tasks to local references on-site.

Keywords: On-Site Mobile Construction; Localization; Construction Robotics; Building Model; As-Built; Deviation Analysis; Robotic Construction Workflow with User Interaction