FEM-based real-time task planning for robotic construction simulation

Abstract

Real-time prefabricated construction faces challenges in robot planning using Building Information Modeling (BIM) due to the need for temporary structure stability. Existing static analysis methods fail to account for dynamic changes and uncertainties. This paper introduces a framework to streamline construction planning, focusing on real-time stability checks for prefabricated structures. Construction procedures are defined in BIM, with structural information automatically transferred to the Finite Element Method (FEM) domain via the BIM-2-FEM converter for stability analysis based on Eurocode standards. Upon successful stability checks, construction is implemented using Robot Operating System (ROS). A case study validates the framework, showcasing improved decision-making, efficiency, and structural integrity through procedures like component assembly and selection optimization. By integrating BIM, FEM, and ROS, this framework enables efficient planning and real-time structural analysis for prefabricated and temporary structures, ultimately enhancing construction productivity and safety.