Feedback-driven adaptive multi-robot timber construction
dc.contributor.author | Adel, Arash | |
dc.contributor.author | Ruan, Daniel | |
dc.contributor.author | McGee, Wesley | |
dc.contributor.author | Mozaffari, Salma | |
dc.date.accessioned | 2024-08-01T18:58:46Z | |
dc.date.available | 2024-08-01T18:58:46Z | |
dc.date.issued | 2024-04-24 | |
dc.identifier.uri | https://hdl.handle.net/2027.42/194149 | en |
dc.description.abstract | Automation and robotics are anticipated to play a crucial role in addressing challenges confronting the construction industry, such as low productivity, workforce shortages, and physically demanding labor. However, a critical challenge in construction robotics has been the development of robust adaptive control to deal with uncertainties inherent in construction, such as material imperfections, multi-robot calibration, and fabrication inaccuracies. To address this challenge, we present a feedback-driven framework consisting of two complementary adaptive fabrication methods, pose-based and topology-based, incorporating perception, reasoning, and acting to handle uncertainties in multi-robot timber construction. We evaluate our framework through building-scale experiments, quantifying their deviations from their as-planned digital models. Our results indicate that our pose-based method significantly decreased deviations compared to a benchmark when applied to nail-laminated timber panels, and our topology-based method enabled robust multi-robot construction of a timber frame wall. Altogether, this research contributes to flexible, accurate, and robust construction employing multi-robot systems. | en_US |
dc.description.sponsorship | National Science Foundation (Award No. 2128623) | en_US |
dc.description.sponsorship | Taubman College of Architecture and Urban Planning | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | Elsevier | en_US |
dc.subject | construction automation | en_US |
dc.subject | multi-robot construction | en_US |
dc.subject | cooperative robotics | en_US |
dc.subject | robotic assembly | en_US |
dc.subject | adaptive fabrication | en_US |
dc.subject | iterative learning control | en_US |
dc.subject | timber construction | en_US |
dc.title | Feedback-driven adaptive multi-robot timber construction | en_US |
dc.type | Article | en_US |
dc.subject.hlbsecondlevel | Urban and Regional Planning | |
dc.subject.hlbsecondlevel | Architecture | |
dc.subject.hlbtoplevel | Arts | |
dc.description.peerreviewed | Peer Reviewed | en_US |
dc.contributor.affiliationum | Architecture and Urban Planning, College of (TCAUP) | en_US |
dc.contributor.affiliationother | Princeton University | en_US |
dc.contributor.affiliationumcampus | Ann Arbor | en_US |
dc.description.bitstreamurl | http://deepblue.lib.umich.edu/bitstream/2027.42/194149/1/AdaptiveMultiRobotTimberConstruction_AutoCon_2024.pdf | |
dc.identifier.doi | 10.1016/j.autcon.2024.105444 | |
dc.identifier.doi | https://dx.doi.org/10.7302/23593 | |
dc.identifier.source | Automation in Construction | en_US |
dc.identifier.orcid | 0000-0003-1469-9345 | en_US |
dc.identifier.orcid | 0000-0001-5794-6006 | en_US |
dc.identifier.orcid | 0000-0002-0456-2460 | en_US |
dc.identifier.orcid | 0000-0002-5364-3849 | en_US |
dc.description.filedescription | Description of AdaptiveMultiRobotTimberConstruction_AutoCon_2024.pdf : Main article | |
dc.description.depositor | SELF | en_US |
dc.identifier.name-orcid | Ruan, Daniel; 0000-0001-5794-6006 | en_US |
dc.identifier.name-orcid | Mcgee, Wes; 0000-0002-0456-2460 | en_US |
dc.identifier.name-orcid | Mozaffari, Salma; 0000-0002-5364-3849 | en_US |
dc.identifier.name-orcid | Adel, Arash; 0000-0003-1469-9345 | en_US |
dc.working.doi | 10.7302/23593 | en_US |
dc.owningcollname | Architecture and Urban Planning, A. Alfred Taubman College of |
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