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@PHDTHESIS{Haschke:968147,
author = {Haschke, Tobias},
othercontributors = {Corves, Burkhard and Schmitt, Robert H.},
title = {{P}lanning of indoor construction tasks for mobile
manipulators},
school = {Rheinisch-Westfälische Technische Hochschule Aachen},
type = {Dissertation},
address = {Aachen},
publisher = {RWTH Aachen University},
reportid = {RWTH-2023-08445},
pages = {1 Online-Ressource : Illustrationen, Diagramme},
year = {2023},
note = {Veröffentlicht auf dem Publikationsserver der RWTH Aachen
University; Dissertation, Rheinisch-Westfälische Technische
Hochschule Aachen, 2023},
abstract = {The challenges of climate change, labour shortages and
urbanisation require increased automation in the
construction industry. In this context, mobile manipulators
are used as indoor construction robots. The flexibility of
these robots allows them to work on different building
surfaces with numerous types of processes. Currently, these
construction robots are operated as single systems, but in
the future the formation of heterogeneous fleets will be
indispensable. To enable the effective operation of such
fleets of mobile manipulators, this thesis presents an
approach for planning tasks in the field of indoor
construction applications. First, a planning-oriented
modelling of the properties of the building, the
construction robots and the processes to be executed is
introduced. The basis is provided by semantic maps, which
are available through Building Information Modelling or 3D
mapping. The construction robots are represented on the
basis of function-oriented modules, which include
manipulation, mobility, as well as process and auxiliary
actions. A general process model is provided, which becomes
executable by assigning process-specific constraints. For a
holistic problem description, the models of the building,
the construction robots and the processes are related to
each other in a high-level planning model. Based on the
problem description, a robot-level and a fleet-level
planning problem are then formulated. The problem at
robot-level describes how a construction robot processes a
building surface. For this, mobility, manipulation and
auxiliary costs are defined, which are derived from the
individual robot modules and the process. The fleet-level
problem assigns the building surfaces to the robots as tasks
and determines the fleet performance. For this purpose,
additional mobility and auxiliary costs are introduced,
which result from the reciprocal influence of the robots
within the respective building. Task allocations are made on
the basis of all introduced cost forms through a sequential
single-object auction. Finally, different solution methods
for the presented planning problems are evaluated. At
robot-level, the problem is solved for different test sets
using a branch and bound method. For the fleet-level
problem, four construction-specific heuristics and an
evolutionary metaheuristic are applied. The results of the
five solution methods are compared for twenty use cases of
automated asbestos removal and their general applicability
is investigated.},
cin = {411910},
ddc = {620},
cid = {$I:(DE-82)411910_20180101$},
pnm = {Bots2ReC - Robots to Re-Construction (687593)},
pid = {G:(EU-Grant)687593},
typ = {PUB:(DE-HGF)11},
doi = {10.18154/RWTH-2023-08445},
url = {https://publications.rwth-aachen.de/record/968147},
}
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