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• W2994392568 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." @default.
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• W2994392568 date "2019-12-04" @default.
• W2994392568 modified "2023-09-27" @default.
• W2994392568 title "A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction" @default.
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