Drone Development for Automation of Bricks Manipulation in Construction Application

Abstract

The use of UAVs has always been a challenge. Even with the versatility current different UAVs platform. This feat is not easy to achieve. Two systems are suggested for the grasping and manipulation of the core object for construction: bricks. In this work two systems were developed for the use in construction. One system uses the motion capture system optitrack for position feedback, along with ROS for issuing commands. The outdoor system uses a different API for issuing commands called dronekit. The outdoor system was tested in simulation using gazebo. The result of the simulation proved if there was an accurate enough way to acquire position the system can be deployed. The indoor system proved that platform developed has the ability to perform the manipulation task.

Date of Award	Dec 2021
Original language	American English