TY - JOUR
T1 - Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-Structured Environment
AU - Stibinger, Petr
AU - Broughton, George
AU - Majer, Filip
AU - Rozsypalek, Zdenek
AU - Wang, Anthony
AU - Jindal, Kshitij
AU - Zhou, Alex
AU - Thakur, Dinesh
AU - Loianno, Giuseppe
AU - Krajnik, Tomas
AU - Saska, Martin
N1 - Funding Information:
Manuscript received October 15, 2020; accepted February 3, 2021. Date of publication February 23, 2021; date of current version March 16, 2021. This letter was recommended for publication by Associate Editor Y. Joo and Editor Y. Choi upon evaluation of the reviewers’ comments. This work was supported in part by the Czech Science Foundation (GACˇ R) under project 20-27034 J, the OP VVV funded project CZ.02.1.01/0.0/0.0/16_019/0000765 “Research Center for Informatics,” the CTU under Grant SGS20/174/OHK3/3 T/13, the EU H2020 project AERIAL CORE no. 871479, and in part by the Khalifa University. (Corresponding author: Petr Štibinger.) Petr Štibinger, Zdeneˇk Rozsypálek, and Martin Saska are with the Faculty of Electrical Engineering, Department of Cybernetics, Czech Technical University in Prague, Prague 16636, Czechia (e-mail: [email protected]; [email protected]; [email protected]).
Publisher Copyright:
© 2016 IEEE.
PY - 2021/4
Y1 - 2021/4
N2 - Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is capable of autonomous localization, grasping, transportation and deployment of construction material in a semi-structured environment. Special effort was put into making the system invariant to lighting changes, and not reliant on external positioning systems. Therefore, the presented system is self-contained and capable of operating in outdoor and indoor conditions alike. Finally, we present means to extend the perceptive radius of the vehicle by using it in cooperation with an autonomous drone, which provides aerial reconnaissance. Performance of the proposed system has been evaluated in a series of experiments conducted in real-world conditions.
AB - Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is capable of autonomous localization, grasping, transportation and deployment of construction material in a semi-structured environment. Special effort was put into making the system invariant to lighting changes, and not reliant on external positioning systems. Therefore, the presented system is self-contained and capable of operating in outdoor and indoor conditions alike. Finally, we present means to extend the perceptive radius of the vehicle by using it in cooperation with an autonomous drone, which provides aerial reconnaissance. Performance of the proposed system has been evaluated in a series of experiments conducted in real-world conditions.
KW - Building automation
KW - mobile manipulation
KW - perception for grasping and manipulation
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U2 - 10.1109/LRA.2021.3061377
DO - 10.1109/LRA.2021.3061377
M3 - Article
AN - SCOPUS:85101786460
SN - 2377-3766
VL - 6
SP - 2595
EP - 2602
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 2
M1 - 9361167
ER -