Real-world construction projects typically require three groups of tasks: site preparation
(earthmoving, leveling), substructure (anchoring, foundations), and superstructure (load …

Purpose The purpose of this paper is to develop a planner for finding an optimal assembly
sequence for robots to assemble objects. Each manipulated object in the optimal sequence …

In this paper we present algorithms and experiments for multi-scale assembly of complex
structures by multi-robot teams. We also focus on tasks where successful completion …

We present a computational framework for planning the assembly sequence of bespoke
frame structures. Frame structures are one of the most commonly used structural systems in …

Planning dual-arm assembly of more than three objects is a challenging Task and Motion
Planning (TAMP) problem. The assembly planner shall consider not only the pose …

Construction automation has historically been driven by top-down implementations of
specific tasks, which are neither responsive nor resilient to dynamic situations, and often …

Object rearrangement is a fundamental sub-task in accomplishing a great many physical
tasks. As such, effectively executing rearrangement is an important skill for intelligent robots …

Construction of spatially extended, self-supporting structures requires a consideration of
structural stability throughout the building sequence. For collective construction systems …

We consider a truss as a graph consisting of nodes and edges, and combine graph
embedding (GE) and reinforcement learning (RL) to develop an agent for generating a …

Effectively performing object rearrangement is an essential skill for mobile manipulators, eg,
setting up a dinner table or organizing a desk. A key challenge in such problems is deciding …