Representing Robots in Building Construction Simulation
Abstract
In this paper we elaborate on a general representation for robots in building construction, to simulate the robots' capabilities to operate within different building projects and in cooperation with human labor crews. We introduce motion rules as a way to capture the diversity in the different robot types in a uniform manner. We explore a motion language to model the behavior of robots in the real-world environment of building construction. The motion language builds upon the motion rules, and is used to specify the actions and operations of a manipulator when faced with different tasks and/or situations. The motion language, when combined with a simple collision avoidance algorithm for path planning that is based on a 'generate and test' procedure, allows for the simulation of robots in building construction.
BibTeX
@conference{Stouffs-1993-13549,author = {R. Stouffs and S. R. Lee and R. Krishnamurti and I. J. Oppenheim},
title = {Representing Robots in Building Construction Simulation},
booktitle = {Proceedings of IBPSA Conference (Building Simulation ’93)},
year = {1993},
month = {August},
pages = {533 - 539},
}