On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile robots can document the state of construction with high data quality and consistency. However, finding a path that fully covers the construction site is a challenging task as it can be large, slowly changing over time, and contain dynamic objects. Existing approaches are either exploration approaches that require a long time to explore the entire building, object scanning approaches that are not suitable for large and complex buildings, or planning approaches that only consider 2D coverage. In this paper, we present a novel approach for planning an efficient 3D path for progress monitoring on large construction sites with multiple levels. By making use of an existing 3D model we ensure that all surfaces of the building are covered by the sensor payload such as a 360-degree camera or a lidar. This enables the consistent and reliable monitoring of construction site progress with an autonomous ground robot. We demonstrate the effectiveness of the proposed planner on an artificial and a real building model, showing that much shorter paths and better coverage are achieved than with a traditional exploration planner.

翻译：在施工现场，必须持续监测进度以确保当前状态与计划状态相符，以提升效率、安全性并及早发现施工缺陷。自主移动机器人能够以高数据质量和一致性记录施工状态。然而，规划一条完全覆盖施工现场的路径极具挑战性，因为施工现场可能规模庞大、随时间缓慢变化，并包含动态物体。现有方法要么是耗时较长的探索式方法来探测整个建筑，要么是不适用于大型复杂建筑的物体扫描方法，要么是仅考虑二维覆盖的规划方法。本文提出了一种新颖的方法，用于在多层级大型施工现场规划高效的进度监测三维路径。通过利用现有三维模型，我们确保所有建筑表面均被传感器载荷（如360度摄像头或激光雷达）覆盖，从而使得自主地面机器人能够一致且可靠地监测施工现场进度。我们在人工建筑模型和真实建筑模型上验证了所提规划器的有效性，结果表明，与传统探索规划器相比，本方法能够实现更短的路径和更优的覆盖效果。