Architecture of Dispersed Multilayered Cyber-Physical Robotic System for Coordination of Manipulating Robotic System Using UAV

Abstract

Drone technology has demonstrated to be of great contribution to the construction field. Tasks such as photogrammetry, plot surveillance and assets inspections are successfully automated with the aerial robotic technology with some level of contribution of a human operator. In this paper we analyze the possibility to achieve fully automated construction task using dispersed robotic system: a drone and mobile robotic crane. The role of the drone is to study the surroundings and generate a desired trajectory for the crane boom arm in order to lay-in pergola blades. The paper focuses on the layers of the dispersed cyber-physical system allowing to achieve such complex task and optimize the trajectory of the crane boom arm by resolving two-dimensional ChebyshevGauss collocation method in order to have minimum-jerk path. © 2019 The Authors. Published by Diamond Congress Ltd. Peer-review under responsibility of the scientific committee of the Creative Construction Conference 2019.