We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a bimanual torso is mounted with a custom-designed drilling end effector and RGB-D cameras. To support teleoperation in dynamic environments with limited visibility, we use Gaussian splatting for online 3D reconstruction and introduce motion parameters to model moving objects. For safe operation around dynamic obstacles, we developed a neural configuration-space barrier approach for planning and control. Initial feasibility studies demonstrate the capability of the hardware in drilling, bolting, and anchoring, and the software in safe teleoperation in a dynamic environment.
@article{arxiv.2511.09695,
title = {A Shared-Autonomy Construction Robotic System for Overhead Works},
author = {David Minkwan Kim and K. M. Brian Lee and Yong Hyeok Seo and Nikola Raicevic and Runfa Blark Li and Kehan Long and Chan Seon Yoon and Dong Min Kang and Byeong Jo Lim and Young Pyoung Kim and Nikolay Atanasov and Truong Nguyen and Se Woong Jun and Young Wook Kim},
journal= {arXiv preprint arXiv:2511.09695},
year = {2025}
}