Robotic motion planning for autonomous in-situ construction of building structures

The in-situ construction of building structures with autonomous robotic systems holds great promise for addressing labor shortages and increasing people's quality of living. Motion planning is a fundamental component in developing such systems, as it ensures that the actions of construction robots adhere to constraints and adapt to uncertainties. This review critically surveyed related studies from the past ten years in a three-phase approach: (i) construction task sequence planning, (ii) building element transit planning, and (iii) joint trajectory fine-tuning. While existing literature acknowledges the importance of leveraging real-time feedback in motion planning to address uncertainties in the in-situ construction process, realizing autonomy requires future research to enhance the stability, adaptability, and robustness of motion planning methods.