Collaborative Construction
CoConstruct (Collaborative Construction), koordiniert von Prof. Dr. Christoph Gehlen, erforscht neuartige Kollaborationskonzepte zwischen Mensch und Maschine zur Verbesserung der Produktivität, Ressourceneffizienz und Steigerung der Qualität im Bauwesen. Ein Team von Forscher*innen aus verschiedenen Disziplinen, darunter Bauingenieurwesen, Maschinenbau, Materialwissenschaften, Informatik und Architektur, untersucht innovative Ideen für die Automatisierung von Design, Planung und Bau mit einem Human-in-the-Loop-Ansatz. Dazu gehört die Kombination menschlicher Fähigkeiten - kognitiver und sensorischer - mit neuen Machine Learning- und Robotertechnologien.
Im Kontext von Design und Planung erfordert der CoConstruct-Ansatz die Entwicklung neuartiger computergestützter Designmethoden, die es ermöglichen, quantitative Metriken und analytische Berechnungsmethoden (wie strukturelle Integrität, Energieeffizienz, Lebenszyklusbewertung, Akustik und Kostenschätzung) mit menschlichem synthetischem Denken und Kreativität zu integrieren. Im Kontext von Fertigung und Bauen untersucht CoConstruct fortschrittliche Messmethoden und räumliche KI, um die Kooperation zwischen Robotern und Menschen zu ermöglichen, wobei die Roboter entweder gegenseitig unterstützend oder einzelne Montageaufgaben in direkter und indirekter Interaktion mit Menschen übernehmen sollen. Basierend auf einer Fallstudienmethodik werden im Rahmen der Forschung neuartige Methoden entwickelt, die anhand realer Szenarien experimentell erforscht und validiert werden.
Unser Team
- Prof. Dr.-Ing. Christoph Gehlen (ED - Werkstoffe und Werkstoffprüfung im Bauwesen)
- Prof. Dr.-Ing. André Borrmann (ED - Computergestützte Modellierung und Simulation)
- Prof. Dr. Pierluigi D'Acunto (ED - Structural Design)
- Prof. Dr. Angela Dai(CIT - Machine Learning of 3D Scene Geometry)
- Prof. Dr. Kathrin Dörfler (ED - Digital Fabrication)
- Prof. Dr.-Ing. Oliver Fischer (ED - Massivbau)
- Prof. M.A. Jeannette Kuo (ED - Architecture and Building Construction)
- Prof. Dr. Stefan Leutenegger (CIT - Machine Learning for Robotics)
- Prof. Dr. Konrad Nübel (ED - Bauprozessmanagement)
- Prof. Dr. Sebastian Pfotenhauer (SOT - Innovationsforschung)
- Prof. Dr. Angela Schoellig (CIT - Sicherheit, Performanz und Zuverlässigkeit lernender Systeme)
Promotionen
- Lidia Atanasova (Building (with) Human-Robot Teams: A Framework for Human-Robot Cooperative Assembly Processes)
- Lazlo Bleker (Machine learning-assisted computational structural design)
- Daoyi Gao (3D Scene Understanding from Retrieval and Object-centric Perspective)
- Mohammed Olabi (Automated joining technologies for additively manufactured concrete structures)
- Pia Stanzel-Deffner (Agile Methoden in der Immobilienentwicklung)
Publikationen
- Begum S., Chen, H., Leutenegger, S., and Dörfler, K. 2024. “Mobile robotic brickwork disassembly for material reuse.” Robotic Fabrication in Architecture (ROB|ARCH) 2024 (under review)
- Jeannette Kuo. 2024. “Expressions of Assembly.” Heterogeneous Construction. Ed. Yasmin Vobis et al.
- Lazlo Bleker, Kam-Ming Mark Tam, Pierluigi D’Acunto. 2024. “Logic-Informed Graph Neural Networks for Structural Form-Finding", Advanced Engineering Informatics. (under review)
- X. Du, S. Zhou and A. P. Schoellig, "Hierarchical Task Model Predictive Control for Sequential Mobile Manipulation Tasks," in IEEE Robotics and Automation Letters, vol. 9, no. 2, pp. 1270-1277, Feb. 2024, doi: 10.1109/LRA.2023.3342671.
- M.R. Kolani, S. Nousias, A. Borrmann (2024): Coordinating robotized construction using advanced robotic simulation: The case of collaborative brick wall assembly, International Workshop on Intelligent Computing in Engineering, under review
- M. A. Vega-Torres, A. Braun, A. Borrmann (2024): BIM-based Camera Pose Refinement, International Workshop on Intelligent Computing in Engineering, under review
- S. Zhou, S. Papatheodorou, S. Leutenegger, A. P. Schoellig (2024): Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments, IEEE International Conference on Robotics and Automation (ICRA), under review
- Cuevas-Garcia C., Pepponi F., and Pfotenhauer S. (2023) Maintaining innovation: How to make sewer robots and innovation policy work in Barcelona. Social Studies of Science. https://journals.sagepub.com/doi/10.1177/03063127231207082
- Lipp B., Baudrin M., Cuevas-Garcia C., Pepponi F. and Tsui S. (2023) Co-creating end-user roles. Understanding the new variety of user involvement in public sector innovation. Science and Public Policy, 50(1): 146-159. https://academic.oup.com/spp/article-abstract/50/1/146/6754158?redirectedFrom=fulltext
- Dayi Gao, Dávid Rozenberszki, Stefan Leutenegger, Angela Dai. 2023. “DiffCAD: Weakly-Supervised Probabilistic CAD Model Retrieval and Alignment from an RGB Image”. (under review)
- A. Heins and A. P. Schoellig, "Keep It Upright: Model Predictive Control for Nonprehensile Object Transportation with Obstacle Avoidance on a Mobile Manipulator," in IEEE Robotics and Automation Letters, vol. 8, no. 12, pp. 7986-7993, Dec. 2023, doi: 10.1109/LRA.2023.3324520.
- Vega Torres, M.A.; Pfitzner, F., Borrmann, A.: Investigating Robot Dogs for Construction Monitoring: A Comparative Analysis of Specifications and On-site Requirements. Proceedings of the 34th Forum Bauinformatik 2023, 2023
- Vega-Torres, M.A.; Braun, A.; Borrmann, A.: BIM-SLAM: Integrating BIM Models in Multi-session SLAM for Lifelong Mapping using 3D LiDAR. Proc. of the 40th International Symposium on Automation and Robotics in Construction (ISARC 2023), 2023
- Mohiuddin, R.; Cruz Policroniades, M.; Slepicka, M.; Borrmann, A.: Optical Process Control for extrusion-based Additive Manufacturing methods in construction. Proceedings of the 40th ISARC, 2023
- Slepicka, M.; Helou, J.; Borrmann, A.: Real-time data exchange (RTDE) robot control integration for Fabrication Information Modeling. Proceedings of the 40th ISARC, 2023
- Pfitzner, F.; Schlenger, J.; Borrmann, A.: Automated Productivity Evaluation of Concreting Works: The Example of Concrete Pillar Production. Proc. of Construction Logistics, Equipment, and Robotics, 2023
- Pfitzner, F.; Braun, A.; Borrmann, A.: Object Detection Based Knowledge Graph Creation: Enabling Insight into Construction Processes. Proc. of the ASCE International Conference on Computing in Civil Engineering 2023, 2023
- Lazlo Bleker, Rafael Pastrana, Patrick Ole Ohlbrock, Pierluigi D’Acunto. 2022. “Structural Form-Finding Enhanced by Graph Neural Networks”, Design Modelling Symposium Berlin, pp. 24-35, https://link.springer.com/chapter/10.1007/978-3-031-13249-0_3
- Mitterberger, D., Atanasova, L., Dörfler, K., Gramazio, F., Kohler, M. 2022 “Tie a knot: human–robot cooperative workflow for assembling wooden structures using rope joints.” Construction Robotics Springer Journals. doi.org/10.1007/s41693-022-00083-2.
- Atanasova, L., Saral, B., Krakovska, E., Schmuck, J., Dietrich, S., Furrer, F., Sandy, T., D’Acunto, P., and Dörfler, K. 2022. “Collective AR-Assisted Assembly of Interlocking Structures” Design Modeling Symposium Berlin 2022. https://doi.org/10.1007/978-3-031-13249-0_15.
- Pfitzner F., Braun A., Borrmann A.: Towards data mining on construction sites: Heterogeneous data acquisition and fusion. Proc. of European Conference on Product and Process Modeling 2022, 2022
- Cuevas-Garcia C. and O’Donovan C. (2022) Programming engagement: Shaping human-robot-public interaction in a smart city robot competition. Preprint: https://doi.org/10.31235/osf.io/cgs6a