The Use of Boston Dynamics SPOT in Support of LiDAR Scanning on Active Construction Sites

Wetzel, Eric M.; Liu, Junshan; Leathem, Tom; Sattineni, Anoop

doi:10.22260/isarc2022/0014

Cited by 10 publications

(7 citation statements)

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“…In 2016, Spot, the latest intelligent quadruped robot, adopted a new dynamic robot control method, which can easily realize climbing, jumping and other actions, and can adapt to external physical interference. It has been widely used in rescue, search and other task scenarios, showing the practical application potential of quadruped robots [10] [11].…”

Section: Introductionmentioning

confidence: 99%

RETRACTED: Environment sensing architecture of quadruped robot and verification in typical scenarios

Tang,

wang,

Gao

et al. 2024

Preprint

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In recent years, advancements in sensor technology, information processing, computer science, and artificial intelligence have significantly enhanced the autonomy of robots. Quadruped robots operating autonomously in unstructured environments greatly increase the opportunity to explore unknown environments, so accurately sensing the external environment through multi-source sensor information is essential for quadruped robots. In this paper, the hardware and software architecture of four-legged robot environment awareness is proposed, and the perception performance is verified in typical scenarios. The hardware system of the quadruped robot environment perception includes the environment sensor and its computing platform, and the software system includes the visual perception module, the tactile perception module, the LiDAR perception module and the inertial navigation module. In order to evaluate the practicability and performance of the proposed hardware-software environment sensing architecture for quadruped robots, experiments on quadruped robots were carried out in typical scenarios. The experimental results show that the proposed environment sensing software and hardware architecture of quadruped robot has good robustness and can realize accurate and reliable external environment sensing.

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Section: Introductionmentioning

confidence: 99%

RETRACTED: Environment sensing architecture of quadruped robot and verification in typical scenarios

Tang,

wang,

Gao

et al. 2024

Preprint

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“…This is a precondition for automated scanning using robotic platforms (Adán et al, 2019) and helps to avoid sub-optimal decision-making in the manual process (Mozaffar and Varshosaz, 2016). As introduced, for this work, we assume knowledge of the scene is available in the form of 3D models or prior scans, which is an assumption made in the context of our above-explained target use cases of industrial plants and construction progress monitoring and contribute to their development towards autonomous data acquisition (Wetzel et al, 2022).…”

Section: Related Wordmentioning

confidence: 99%

Assessing and Improving Automated Viewpoint Planning for Static Laser Scanning Using Optimization Methods

Noichl,

Stuecke,

Thielen

et al. 2024

ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. The preparation of laser scanning missions is important for efficiency and data quality. Furthermore, it is a prerequisite for automated data acquisition, which has numerous applications in the built environment, including autonomous inspections and monitoring of construction progress and quality criteria. The scene and potential scanning locations can be discretized to facilitate the analysis of visibility and quality aspects. The remaining mathematical problem to generate an economic scan strategy is the Viewpoint Planning Problem (VPP), which asks for a minimum number of scanning locations within the given scene to cover the scene under pre-defined requirements. Solutions for this problem are most commonly found using heuristics. While these efficient methods scale well, they cannot generally return globally optimal solutions. This paper investigates the VPP based on a problem description that considers quality-constrained visibility in 3D scenes and suitable overlaps between individual viewpoints for targetless registration of acquired point clouds. The methodology includes the introduction of a preprocessing method designed to simplify the input data without losing information about the problem. The paper details various solution methods for the VPP, encompassing conventional heuristics and a mixed-integer linear programming formulation, which is solved using Benders decomposition. Experiments are carried out on two case study datasets, varying in specifications and sizes, to evaluate these methods. The results show the actual quality of the obtained solutions and their deviation from optimality (in terms of the estimated optimality gap) for instances where exact solutions can not be achieved.

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“…Xu et al (2021) used a case study to evaluate the performance of the drilling robot "Jaibot" to drill holes for the installation hangers on the MEP systems according to the BIM models and suggested possible enhancements to the platform. Wetzel et al (2022) used Boston Dynamics' four-legged robot "Spot" to test the quality and efficiency of LiDAR Scanning on Active Construction Sites. Tribelhorn and Dodds (2007) evaluated the opportunities and limitations of an "iRobot" platform for construction research and tasks.…”

Section: Existing "Closed" Platformsmentioning

confidence: 99%

A guide for construction practitioners to integrate robotic systems in their construction applications

Prieto,

Xu,

García de Soto

2024

Front. Built Environ.

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Introduction: The use of robots can boost productivity and reduce costs in construction projects. However, choosing the right robotic platform for the right application can be challenging, costly, and time-consuming. This paper presents a guide for researchers and construction practitioners interested in using robotic systems.Methods: A methodology covering the different aspects to be considered when it comes to a robotic platform, such as the framework (both hardware and software), the environment the robot is going to be operating, the level of supervision (i.e., autonomy) the robot requires, different hardware required on board (i.e., sensors and computers), and the control strategies and systems and communication network, is presented. The methodology is implemented with a practical application where a semi-autonomous robotic system is designed and developed with the simple goal of data collection on construction sites, making sure that all the steps covered in the methodology are addressed.Results: The results show that the methodology is applicable to a wide range of solutions, with a focus on the development of the platform itself and not the final application.Discussion: This guide is meant to assist in developing a flexible open platform that can be customized to the specific requirements needed.

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The Use of Boston Dynamics SPOT in Support of LiDAR Scanning on Active Construction Sites

Cited by 10 publications

References 0 publications

RETRACTED: Environment sensing architecture of quadruped robot and verification in typical scenarios

RETRACTED: Environment sensing architecture of quadruped robot and verification in typical scenarios

Assessing and Improving Automated Viewpoint Planning for Static Laser Scanning Using Optimization Methods

A guide for construction practitioners to integrate robotic systems in their construction applications

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