Precise markings for drilling and assembly are crucial, laborious construction tasks. Aerial robots with suitable end-effectors are capable of markings at the millimeter scale. However, so far, they have only been demonstrated under laboratory conditions where rigid state estimation and navigation assumptions do not impede robustness and accuracy. This paper presents a complete aerial layouting system capable of precise markings on-site under realistic conditions. We use a compliant actuated end-effector on an omnidirectional flying base. Combining a two-stage factor-graph state estimator with a Riemannian Motion Policy-based navigation stack, we avoid the need for a globally consistent estimate and increase robustness. The policy-based navigation is structured into individual behaviors in different state spaces. Through a comprehensive study, we show that the system creates highly precise markings at a relative precision of 1.5 mm and a global accuracy of 5-6 mm and discuss the results in the context of future construction robotics.

翻译：钻孔与装配中的精准标记是关键的繁重施工任务。配备适当末端执行器的空中机器人能够实现毫米级的标记精度，然而迄今为止，这些能力仅在实验室条件下得到验证——在真实环境中，刚性状态估计与导航假设会削弱系统的鲁棒性与精度。本文提出了一套完整的空中布局系统，能够在实际工况下完成现场精准标记。我们采用了安装在全向飞行平台上的柔性驱动末端执行器，通过将两阶段因子图状态估计器与基于黎曼运动策略的导航堆栈相结合，避免了全局一致状态估计的需求并提升了鲁棒性。该策略导航方法被解耦为不同状态空间中的独立行为模块。系统研究表明：本方法可实现相对精度1.5毫米、全局精度5-6毫米的高精度标记，并在未来建筑机器人领域背景下对结果进行了深入讨论。