Construction robotics is an emerging field that shows promising potential to automate various construction tasks while enhancing efficiency, safety, and precision in the Architecture, Engineering and Construction industry. Delivering robotic manufacturing applications to the industry, however, requires an information handling framework that links up the high-level digital design with robotic systems. Regarding to this digital bridge between Building Information Model and robotic systems, Fabrication Information Modeling has already been introduced and developed to a sophisticated level for mostly the practices of Additive Manufacturing. Yet, application of Fabrication Information Model for robotic construction tasks planning and execution is still under-explored, particularly in the context of robotic bricklaying. The nature of bricklaying sets its own unique set of challenges regarding component level task planning and execution. The brick instances, as the smallest units of the wall structure, may come in various sizes, patterns, orientations, as well as brick wall geometries may introduce further complexities such as openings, corners and varying heights. Thus, a framework that can effectively derive and utilize fine grained-fabrication information for robotic bricklaying and automate the process without compromising component level precision can successfully handle such complexities at once. Implementing Fabrication Information Model as a 4 module framework, where the use of Industry Foundation Classes data structure as a vendor-neutral data representation allowed leveraging Building Information Model semantics and geometry for not only fabrication information derivation, but introducing an adaptive running system, that can make decisions on each brick component's task execution. Remaining agnostic of the robotic control system, the developed framework leverages bi-directional communication with robotic execution per brick task, allowing task-status relevant feedback to be utilized for error-free assembly. This way, Fabrication Information Model framework's highly adaptable structure is extended towards robotic bricklaying, while showing component level decision making ability and handling number of complexities that come with brick wall assembly. Keywords: Construction Robotics, Fabrication Information Model, Building Information Modeling, Industry Foundation Classes, Cyber-Physical Systems, Automation in Construction     «

Construction robotics is an emerging field that shows promising potential to automate various construction tasks while enhancing efficiency, safety, and precision in the Architecture, Engineering and Construction industry. Delivering robotic manufacturing applications to the industry, however, requires an information handling framework that links up the high-level digital design with robotic systems. Regarding to this digital bridge between Building Information Model and robotic systems, Fabrica...     »