Autonomous Mobile Construction Robots

Many manufacturing companies use autonomous robots to solve a variety of assembly and sorting problems. However, only a few attempts have been made at creating mobile robots capable of autonomously assembling a building or other such structure. The key to this problem is to design a single robot capable of doing the task efficiently and then replicating the core design to create a team of robots. For this purpose I investigated an implementation of a mobile robot based on the Autonomous Robotic Architecture. The control system was initially tested in the Gazebo simulator and then tested on a physical robot. This paper describes the design procedure and the results of a series of experiments that prove that a schema based approach is effective in such a scenario.