Rudi Stouffs, Ramesh Krishnamurti, Stephen R. Lee, Irving J.Oppenheim
Year:
1993
Bibliographic info:
Building Simulation, Australia, 1993, p. 533-539

In this paper we elaborate on a general representation for robots in building construction, to simulate the robots' capabilities to operate within different building projects and in cooperation with human labor crews. We introduce motion rules as a way to capture the diversity in the different robot types in a uniform manner. We explore a motion language to model the behavior of robots in the real-world environment of building construction. The motion language builds upon the motion rules, and is used to specify the actions and operations of a manipulator when faced with different tasks and/or situations. The motion language, when combined with a simple collision avoidance algorithm for path planning that is based on a 'generate and test' procedure, allows for the simulation of robots in building construction.