# A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction

arXiv: https://arxiv.org/abs/1912.01870 · HTML: https://mlsanity.com/paper/1912.01870/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 Dec 2019.

## Built on by (most cited first, 4 of 4)

- [Generalized Video Anomaly Event Detection: Systematic Taxonomy and Comparison of Deep Models](https://mlsanity.com/paper/2302.05087/) (2023)
- [Self-Improving Semantic Perception for Indoor Localisation](https://mlsanity.com/paper/2105.01595/) (2021)
- [Superquadric Object Representation for Optimization-based Semantic SLAM](https://mlsanity.com/paper/2109.09627/) (2021)
- [Holistic Construction Automation with Modular Robots: From High-Level Task Specification to Execution](https://mlsanity.com/paper/2412.20867/) (2024)

## Abstract (arXiv)

We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction sites. The approach leverages multi-modal sensing capabilities for state estimation, tight integration with digital building models, and integrated trajectory planning and whole-body motion control. A novel method for high-accuracy localization updates relative to the known building structure is proposed. The approach is implemented on a real platform and tested under realistic construction conditions. We show that the system can achieve sub-cm end-effector positioning accuracy during fully autonomous operation using solely on-board sensing.