Skill Sequence Planning for Collaborative Multi-Robot Construction

الملخص

Robots have significant potential to automate construction processes. However, their industry adoption remains limited, partly because of the programming effort required to adapt robots to diverse tasks. This paper presents a skill sequence planning method that enables a heterogeneous team of multi-functional robots to collaboratively perform construction assembly work using reusable, preprogrammed skills such as grasping, drilling, and fastening. A central controller transforms the digital representation of the building into a construction relationship graph that represents construction entities, their states, and their parent-child relationships. Based on this representation, the system selects the next construction target, generates a symbolic sequence of skills for capable members of the robot team, and produces collision-free geometric motion plans for skill execution. The symbolic planning problem is dynamically regenerated as the construction state changes. An interactive digital twin presents the planned skill sequence and robot states to human co-workers for review and approval before execution. The method is evaluated through a construction assembly case study. By reducing the need to program robots separately for each task variation, the proposed approach supports more flexible deployment of collaborative robot teams in construction.

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الموضوع