Practical Sensor Strategies for On-Site Positioning of a Mobile Bricklaying Robot

The authors describe practical sensor systems suitable for a mobile bricklaying robot for automated masonry construction on a building site. The major sources of error encountered during the automated masonry construction process as well as the required tolerances for the masonry process are described. Based on these considerations, two sensor strategies for positioning and orientating the robot are described in detail. An assessment of these strategies and a description of simulation results conclude this article.