High-Accuracy Mobile Manipulation for On-Site Robotic Building Construction

摘要

Despite the wide-spread usage of robots in manufacturing, robots and automation are yet to make a significant impact on the building construction industry. This is because building construction requires a combination of mobility, accuracy, and autonomy that mobile robotic systems cannot yet provide. This work develops localization, sensor fusion and control strategies to allow mobile manipulation systems to achieve high-accuracy end-effector positioning throughout large workspaces and over long time-scales. We This thesis was only made possible through the help and support of a large network of people. To all of whom, I am extremely grateful.