Assembly planning for the construction of structures with multiple UAS equipped with robotic arms

The work presented in this paper is part of the autonomous planning architecture of a team of aerial robots equipped with on-board robotic arms. The mission of the team is the construction of structures in places where the access is difficult by conventional means, which is the scenario considered in the framework of the ARCAS European Project. This paper presents three automatic planners in this context applied in sequence. From the 3D CAD model of the structure, an assembly planner computes the required assembly operations. These operations are assigned to the available aerial robots by a task allocation planner and finally a symbolic planner computes the sequence of actions taking into account the problem and model domains as well as the different preconditions. The paper includes simulation results that show the feasibility of the approach and the properties of the solutions.