Author:
Lanegger Christian,Pantic Michael,Bähnemann Rik,Siegwart Roland,Ott Lionel
Abstract
AbstractPrecise markings for drilling and assembly are crucial, laborious construction tasks. Aerial robots with suitable end-effectors are capable of markings at the millimeter scale. However, so far, they have only been demonstrated under laboratory conditions where rigid state estimation and navigation assumptions do not impede robustness and accuracy. This paper presents a complete aerial layouting system capable of precise markings on-site under realistic conditions. We use a compliant actuated end-effector on an omnidirectional flying base. Combining a two-stage factor-graph state estimator with a Riemannian Motion Policy-based navigation stack, we avoid the need for a globally consistent state estimate and increase robustness. The policy-based navigation is structured into individual behaviors in different state spaces. Through a comprehensive study, we show that the system creates highly precise markings at a relative precision of 1.5 mm and a global accuracy of 5–6 mm and discuss the results in the context of future construction robotics.
Funder
Swiss Federal Institute of Technology Zurich
Publisher
Springer Science and Business Media LLC
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