Constructing large structures with robots is a challenging task with many potential applications that requires mobile manipulation capabilities. We present two systems for autonomous wall building that we developed for the Mohamed Bin Zayed International Robotics Challenge 2020. Both systems autonomously perceive their environment, find bricks, and build a predefined wall structure. While the UGV uses a 3D LiDAR-based perception system which measures brick poses with high precision, the UAV employs a real-time camera-based system for visual servoing. We report results and insights from our successful participation at the MBZIRC 2020 Finals, additional lab experiments, and discuss the lessons learned from the competition.
@article{arxiv.2011.01999,
title = {Autonomous Wall Building with a UGV-UAV Team at MBZIRC 2020},
author = {Christian Lenz and Max Schwarz and Andre Rochow and Jan Razlaw and Arul Selvam Periyasamy and Michael Schreiber and Sven Behnke},
journal= {arXiv preprint arXiv:2011.01999},
year = {2020}
}
Comments
Accepted final version. In 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)