Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning

Abstract

Integrating robotic systems in architectural and construction processes is of core interest to increase the efficiency of the building industry. Automated planning for such systems enables design analysis tools and facilitates faster design iteration cycles for designers and engineers. However, generic task-and-motion planning (TAMP) for long-horizon construction processes is beyond the capabilities of current approaches. In this paper, we develop a multi-agent TAMP framework for long horizon problems such as constructing a full-scale building. To this end we extend the Logic-Geometric Programming framework by sampling-based motion planning,a limited horizon approach, and a task-specific structural stability optimization that allow an effective decomposition of the task. We show that our framework is capable of constructing a large pavilion built from several hundred geometrically unique building elements from start to end autonomously.

References in corpus (1)

• Newton methods for k-order Markov Constrained Motion Problems

Cited by in corpus (5)

• Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly
• A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches
• Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning
• Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort
• Constant-time Motion Planning with Anytime Refinement for Manipulation