Autonomous Reactive Masonry Construction using Collaborative Heterogeneous Aerial Robots with Experimental Demonstration

2025-10-16

AI Summary

This work addresses the challenge of fully autonomous aerial masonry construction. Methodologically, it proposes a heterogeneous UAV cooperative bricklaying framework integrating reactive task planning with dynamic task allocation, supported by a joint dependency–conflict graph model to enable multi-UAV parallel execution and real-time replanning. The system incorporates minimum-jerk trajectory generation, onboard ArUco-based visual localization with least-squares filtering, servo-controlled adhesive extrusion, a spherical-joint gripper, and a hierarchical state-machine controller. Experimentally, it demonstrates—for the first time—the feasibility of end-to-end, human-in-the-loop-free brick handling, precise positioning, adhesive dispensing, and placement using heterogeneous UAVs. Results confirm robust performance and strong environmental adaptability under unstructured conditions. This work establishes a scalable technical paradigm and provides empirical validation for future aerial construction robotics.

Technology Category

• Intelligent Robots: Multi-Robot Systems
• Humans and AI: Human-Aware Planning and Behavior Prediction
• Multiagent Systems: Teamwork

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Systems and Infrastructure for Web, Mobile and WoT: Applied ML and AI for Web-based mobile applications
• Search and Retrieval-Augmented AI: Vertical and domain-specific search

Abstract

This article presents a fully autonomous aerial masonry construction framework using heterogeneous unmanned aerial vehicles (UAVs), supported by experimental validation. Two specialized UAVs were developed for the task: (i) a brick-carrier UAV equipped with a ball-joint actuation mechanism for precise brick manipulation, and (ii) an adhesion UAV integrating a servo-controlled valve and extruder nozzle for accurate adhesion application. The proposed framework employs a reactive mission planning unit that combines a dependency graph of the construction layout with a conflict graph to manage simultaneous task execution, while hierarchical state machines ensure robust operation and safe transitions during task execution. Dynamic task allocation allows real-time adaptation to environmental feedback, while minimum-jerk trajectory generation ensures smooth and precise UAV motion during brick pickup and placement. Additionally, the brick-carrier UAV employs an onboard vision system that estimates brick poses in real time using ArUco markers and a least-squares optimization filter, enabling accurate alignment during construction. To the best of the authors' knowledge, this work represents the first experimental demonstration of fully autonomous aerial masonry construction using heterogeneous UAVs, where one UAV precisely places the bricks while another autonomously applies adhesion material between them. The experimental results supported by the video showcase the effectiveness of the proposed framework and demonstrate its potential to serve as a foundation for future developments in autonomous aerial robotic construction.

Problem

• Develops autonomous aerial robots for masonry construction using heterogeneous UAVs
• Creates reactive planning system for managing simultaneous bricklaying and adhesion tasks
• Enables real-time brick pose estimation and precise alignment during autonomous construction

Innovation

• Heterogeneous UAVs with specialized manipulation mechanisms
• Reactive mission planning using dependency and conflict graphs
• Onboard vision system for real-time brick pose estimation