Coordinating robotized construction using advanced robotic simulation: The case of collaborative brick wall assembly

Abstract: Utilizing robotic systems in the construction industry is gaining popularity due to their build time, precision, and efficiency. In this paper, we introduce a system that allows the coordination of multiple manipulator robots for construction activities. As a case study, we chose robotic brick wall assembly. By utilizing a multi robot system where arm manipulators collaborate with each other, the entirety of a potentially long wall can be assembled simultaneously. However, the reduction of overall bricklaying time is dependent on the minimization of time required for each individual manipulator. In this paper, we execute the simulation with various placements of material and the robots base, as well as different robot configurations, to determine the optimal position of the robot and material and the best configuration for the robot. The simulation results provide users with insights into how to find the best placement of robots and raw materials for brick wall assembly.