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... experiments are conducted on our open-source robotic platform7 that consists of a wheeled base with LiDAR and IMU sensors, as shown in Figure 5. The platform's capabilities of high-accuracy manipulation [17] localization in cluttered environments [16] were validated in earlier works. ...
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... experiments are conducted on our open-source robotic platform7 that consists of a wheeled base with LiDAR and IMU sensors, as shown in Figure 5. The platform's capabilities of high-accuracy manipulation [17] localization in cluttered environments [16] were validated in earlier works. ...
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Annotation. In most cases, multifunctional robots used both in industry and in the home environment to facilitate human labor have a common problem, which is a lack of autonomy and self-learning. This does not mean that it is impossible to implement self-learning within the operation of these machines, but most often such technical units function a...
Citations
... In [14] and [15], the 3D LiDAR scan is aligned with the BIM model using the Iterative Closest Point (ICP) algorithm. Whereas in [14], the alignment is constrained to a few selected reference-mesh faces to overcome ambiguities, [15] use image information to filter foreground and background in the point cloud and use only the background for registration. ...
... In [14] and [15], the 3D LiDAR scan is aligned with the BIM model using the Iterative Closest Point (ICP) algorithm. Whereas in [14], the alignment is constrained to a few selected reference-mesh faces to overcome ambiguities, [15] use image information to filter foreground and background in the point cloud and use only the background for registration. Later the pipeline was reconfigured to create a self-improving semantic perception method that can better handle clutter in the environment [16]. ...
... The fullymobile robotic platform that is being currently developed to be implemented in future research, should further expand the possibilities for this technology. A constant materialfeed combined with a fully mobile robotic platform -with synchronized arm and base movements [25] -will allow RPS to be applied as a continuous mobile 3D printing process on-site [8,26], easing the challenge of segmentation and to avoid the formation of cold joints. Still, transitioning to the existing building structure -i.e. from floor to wall, wall to ceiling, as well as controlling tolerances according to specific situations (such as corners or deviations in the building structure) will challenge the process applicability. ...
This paper describes the 1:1 scale application of Robotic Plaster Spraying ( RPS ), a novel, adaptive thin-layer printing technique, using cementitious base coat plaster, realized in a construction setting. In this technique, the print layers are vertical unlike most 3DCP processes. The goal is to explore the applicability and scalability of this spray-based printing technique. In this study, RPS is combined with an augmented interactive design setup, the Interactive Robotic Plastering ( IRoP ), which allows users to design directly on the construction site, taking the building structure, as-built state of the on-going fabrication and the material behavior into consideration. The experimental setup is an on-site robotic system that consists of a robotic arm mounted on a semi-mobile vertical axis with an integrated, automated pumping and adaptive spraying setup that is equipped with a depth camera. The user interaction is enabled by a controller-based interaction system, interactive design tools, and an augmented reality interface. The paper presents the challenges and the workflow that is needed to work with a complex material system on-site to produce bespoke plasterwork. The workflow includes an interactive design procedure, localization on-site, process control and a data collection method that enables predicting the behavior of complex-to-simulate cementitious material. The results demonstrate the applicability and scalability of the adaptive thin-layer printing technique and address the challenges, such as maintaining material continuity and working with unpredictable material behavior during the fabrication process.
... Despite the point-based method, meshes were also used for robot global localization without initial guess in [13]. Recently, researchers in [14] proposed a novel interface to connect building construction and map representation, which could also detect deviations between as-designed and as-built models via localization results. ...
... Other than the pointbased ICP method, meshes were also used for robot global localization without the need of an initial guess in [25]. Recently, researchers in [26] proposed a novel interface to connect building construction and map representation, which could also detect deviations between as-designed and as-built models via localization results. ...
Conventional sensor-based localization relies on high-precision maps. These maps are generally built using specialized mapping techniques, which involve high labor and computational costs. While in the architectural, engineering and construction industry, building information models (BIMs) are available and can provide informative descriptions of environments. This paper explores an effective way to localize a mobile 3D LiDAR sensor in BIM considering both geometric and semantic properties. Specifically, we first convert original BIM to semantic maps using categories and locations of BIM elements. After that, a coarse-to-fine semantic localization is performed to align laser points to the map via iterative closest point registration. The experimental results show that the semantic localization can track the pose with only scan matching and present centimeter-level errors over 340 meters traveling, thus demonstrating the feasibility of the proposed mapping-free localization framework. The results also show that using semantic information can help reduce localization errors in BIM.
... Similarly, A pose-graph with Lidar measurements that represented by a SLAM and the floor plan was proposed, and the robot localization system that assisted by architectural CAD drawings could achieve a sub-centimeter accuracy [46]. Moreover, a novel method for high-accuracy localization based on the state of the known building structure was presented [47], and the synchronization of building information with the robot's map accelerated to the process of mobile construction [48]. In our previous work, an adaptive robust localization method based on artificial landmarks and generated buildings was also studied [49]. ...
The effectiveness of mobile robot aided for architectural construction depends strongly on its accurate localization ability. Localization of mobile robot is increasingly important for the printing of buildings in the construction scene. Although many available studies on the localization have been conducted, only a few studies have addressed the more challenging problem of localization for mobile robot in large-scale ongoing and featureless scenes. To realize the accurate localization of mobile robot in designated stations, we build an artificial landmark map and propose a novel nonlinear optimization algorithm based on graphs to reduce the uncertainty of the whole map. Then, the performances of localization for mobile robot based on the original and optimized map are compared and evaluated. Finally, experimental results show that the average absolute localization errors that adopted the proposed algorithm is reduced by about 21% compared to that of the original map.
... Such references are part of the task definition and can e.g. be synchronised online with robot [23]. ...
Quasi-static robotic systems and discrete fabrication strategies fall short of the capabilities needed for automating on-site plastering, which involves operating over large spans and maintaining material continuity. This paper presents continuous, mobile Robotic Plaster Spraying (RPS) – a thin-layer, spray-based printing-in-motion technique using cementitious plaster – realized on a prototypical construction site. The experimental setup consists of a fully mobile, custom wheeled base that is synchronized with a robotic arm, and an integrated pumping and spraying system. In this 1:1 scale application, the print layers are executed during the motion of the mobile robot and they are printed vertically on the walls of an existing building structure. The experiments showcase the potentials of producing bespoke – three-dimensional – or standardized – flat – plasterwork with the proposed technique. The results demonstrate the applicability and scalability of RPS and the findings contribute to the research on mobile additive fabrication.
Conventional sensor-based localization relies on high-precision maps, which are generally built using specialized mapping techniques involving high labor and computational costs. In the architectural, engineering and construction industry, Building Information Models (BIM) are available and can provide informative descriptions of environments. This paper explores an effective way to localize a mobile 3D LiDAR sensor on BIM-generated maps considering both geometric and semantic properties. First, original BIM elements are converted to semantically augmented point cloud maps using categories and locations. After that, a coarse-to-fine semantic localization is performed to align laser points to the map based on iterative closest point registration. The experimental results show that the semantic localization can track the pose successfully with only one LiDAR sensor, thus demonstrating the feasibility of the proposed mapping-free localization framework. The results also show that using semantic information can help reduce localization errors on BIM-generated maps.
Embedded in a long tradition of craftsmanship, inside or outside building surfaces, is often treated with plaster, which plays both functional and ornamental roles. Today, plasterwork is predominantly produced through rationalized, time-, and cost-efficient processes, used for standardized building elements. These processes have also gained interest in the construction robotics field, and while such approaches target the direct automation of standardized plasterwork, they estrange themselves from the inherent qualities of this malleable material that are well known from the past. This research investigates the design potentials of robotic plaster spraying, proposing an adaptive, thin-layer vertical printing method for plasterwork that aims to introduce a digital craft through additive manufacturing. The presented work is an explorative study of a digitally controlled process that can be applied to broaden the design possibilities for the surfaces of building structures. It involves the spraying of multiple thin layers of plaster onto a vertical surface to create volumetric formations or patterns, without the use of any formwork or support structures. This article describes the experimental setup and the initial results of the data collection method involving systematic studies with physical testing, allowing to develop means to predict and visualize the complex-to-simulate material behavior, which might eventually enable to design with the plasticity of this material in a digital design tool.
