Robot-based facade spatial assembly optimization

Height Estimation of Gondola-typed Facade Robot

Purpose We researched an automated and robotic facade maintenance robot. This robot can protect people against safety hazards, and save labour cost for building facade maintenance. Our platform is gondola type. Accurate and robust height estimation is necessary for automation. We propose a methodology for height estimation. Method Even though there are many sensor systems for height estimation,...

Results in Sliding Autonomy for Multi-robot Spatial Assembly

We have developed a software architecture for teams of robots and humans to jointly perform tightly coordinated tasks, such as assembly of structures in orbit or on planetary surfaces. While we envision that robots will autonomously perform such work in the future, the state of the art falls short of the capabilities necessary to handle all possible contingencies. Our architecture provides a pr...

Solving Traveling Salesman Problem based on Biogeography-based Optimization and Edge Assembly Cross-over

Biogeography-Based Optimization (BBO) algorithm has recently been of great interest to researchers for simplicity of implementation, efficiency, and the low number of parameters. The BBO Algorithm in optimization problems is one of the new algorithms which have been developed based on the biogeography concept. This algorithm uses the idea of animal migration to find suitable habitats for solvin...

Simulating for `resource optimization' in robot-assisted automatic assembly

Tilted Window Detection for Gondola- Typed Facade Robot

Working on building façade is dangerous. Many accidents have occurred, and many workers have lost their lives. We have researched to apply robot systems to prevent these accidents. In this paper, we purposed an algorithm for sensor system of a gondola-typed building façade maintenance robot. The robot system moves on the building façade autonomously, or by remote control. Therefore, window area...