An autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns

摘要

Abstract This paper describes the implementation of an autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns, finding applications in different industrial automation, manufacturing and civil construction scenarios. This system was developed for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020, to demonstrate the novel real-world application of constructing structures using teams of robots, showcasing once again the role of major scientific competitions in advancing the state of the art towards exploring solutions to open problems. The paper presents in detail the hardware and software architectures of the developed mobile manipulator, integrating different research results and developments into a functional complex robot system, while proposing methods to detect, approach and manipulate differently sized/colored bricks to build a wall of predefined pattern given to the robot just before the building task starts. Article Highlights Full system description of an autonomous mobile manipulator for construction tasks tested in a realistic setting Algorithms for detection, localization, picking and placement of heterogeneous building blocks to form large structures Versatile service robot capable of smooth adaptation to other functions developed through scientific robot competitions