Model-based development of robotic systems and services in construction robotics

Abstract

More and more of our indoor/outdoor environments are available as 3D digital models. In particular, digital models such as the CityGML (City Geography Markup Language) format for cities and the BIM (Building Information Modeling) methodology for buildings are becoming important standards for project management in the construction industry. In this contribution, we are proposing the combination of existing city and building models with methods from 3D simulation and 3D simulation-based system control in order to provide comprehensive geometries and semantics for the representation of large-scale working environments. In Virtual Testbeds for construction robotics, such large-scale working environments can then be systematically accessed as mental models for the model- respectively 3D simulation-based development and control of robotic systems and services.