Braga, Rafael Gomes, Tahir, Muhammad Owais, Karimi, Sina, Dah-Achinanon, Ulrich, Iordanova, Ivanka et St-Onge, David.
2025.
« Intuitive BIM-aided robotic navigation and assets localization with semantic user interfaces ».
Frontiers in Robotics and AI, vol. 12.
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Résumé
Introduction: The deployment of mobile robots on construction sites has gained increasing attention from both academic research and industry due to labor shortages and the demand for more efficient project management. However, integrating robotic systems into dynamic and hazardous construction environments remains challenging. Key obstacles include reliance on extensive on-site infrastructure, limited adaptability, and a disconnect between system capabilities and field operators' needs. Methods: This study introduces a comprehensive, modular robotic platform designed for construction site navigation and asset localization. The system incorporates Building Information Modeling (BIM)-based semantic navigation, active Ultra-Wideband (UWB) beacon tracking for precise equipment detection, and a cascade navigation stack that integrates global BIM layouts with realtime local sensing. Additionally, a user-centric graphical user interface (GUI) was developed to enable intuitive control for non-expert operators, improving field usability. Results: The platform was validated through real-world deployments and simulations, demonstrating reliable navigation in complex layouts and high localization accuracy. A user study was conducted, confirming improved task efficiency and reduced cognitive load for operators. Discussion: The results indicate that the proposed system provides a scalable, infrastructure-light solution for construction site robotics. By bridging the gap between advanced robotic technologies and practical deployment, this work contributes to the development of more adaptable and user-friendly robotic solutions for construction environments.
| Type de document: | Article publié dans une revue, révisé par les pairs |
|---|---|
| Professeur: | Professeur Iordanova, Ivanka St-Onge, David |
| Affiliation: | Génie de la construction, Génie mécanique |
| Date de dépôt: | 31 mars 2025 18:12 |
| Dernière modification: | 10 avr. 2025 15:32 |
| URI: | https://espace2.etsmtl.ca/id/eprint/30705 |
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