異種協調型飛行ロボットによる自律的なレンガ積み施工の実証
Autonomous Reactive Masonry Construction using Collaborative Heterogeneous Aerial Robots with Experimental Demonstration
レンガ運搬用と接着剤塗布用の2種類のドローンを協調させ、依存グラフと競合グラフに基づく反応的計画で完全自律的にレンガ壁を積み上げる枠組みを構築し、実験で実証した。
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著者: Marios-Nektarios Stamatopoulos, Elias Small, Shridhar Velhal, Avijit Banerjee, George Nikolakopoulos
分類: cs.RO
原文アブストラクト
This article presents a fully autonomous aerial masonry construction framework using heterogeneous unmanned aerial vehicles (UAVs), supported by experimental validation. Two specialized UAVs were developed for the task: (i) a brick-carrier UAV equipped with a ball-joint actuation mechanism for precise brick manipulation, and (ii) an adhesion UAV integrating a servo-controlled valve and extruder nozzle for accurate adhesion application. The proposed framework employs a reactive mission planning unit that combines a dependency graph of the construction layout with a conflict graph to manage simultaneous task execution, while hierarchical state machines ensure robust operation and safe transitions during task execution. Dynamic task allocation allows real-time adaptation to environmental feedback, while minimum-jerk trajectory generation ensures smooth and precise UAV motion during brick pickup and placement. Additionally, the brick-carrier UAV employs an onboard vision system that estimates brick poses in real time using ArUco markers and a least-squares optimization filter, enabling accurate alignment during construction. To the best of the authors' knowledge, this work represents the first experimental demonstration of fully autonomous aerial masonry construction using heterogeneous UAVs, where one UAV precisely places the bricks while another autonomously applies adhesion material between them. The experimental results supported by the video showcase the effectiveness of the proposed framework and demonstrate its potential to serve as a foundation for future developments in autonomous aerial robotic construction.
