CAST: Collision-Aware Assembly with Construction Robots using Simultaneous Trajectory Estimation and Planning

Abstract:Multi-robot systems have shown increasing viability in construction due to their ability to execute high-precision actions while reducing human exposure to hazardous tasks. However, these environments have high-dimensional configuration spaces and possess substantial collision-avoidance constraints, which include other robots, assembly objects, and workspace boundaries. We utilize a single factor graph for trajectory estimation and planning that incorporates measured robot states together with explicit collision and learned cable constraints. This supports changing workspaces and enables synchronized, high-dimensional robot motion planning while accounting for the stiff, vibration-induced uncertainty of heavy robotic systems. We demonstrate the success of our framework on the construction of a post-and-lintel structure using one robot arm as a timber gripper, and a second robot as a nail-fastener.

Robotics (cs.RO)

arXiv:2609.24841 [cs.RO]

(or arXiv:2609.24841v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.24841 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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