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Stouffs, R. et al. Representing robots in building constructio simulation. In: BUILDING SIMULATION, 3., 1993, Adelaide. Anais... Adelaide, 1993. p. 533-539.
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Abstract

In this paper we elaborate on a general representation for robots in building construction, to simulate the robots' capabilities to operate within different building projects and in cooperation with human labor crews. We introduce motion rules as a way to capture the diversity in the different robot types in a uniform manner. We explore a motion language to model the behavior of robots in the real-world environment of building construction. The motion language builds upon the motion rules, and is used to specify the actions and operations of a manipulator when faced with different tasks and/or situations. The motion language, when combined with a simple collision avoidance algorithm for path planning that is based on a 'generate and test' procedure, allows for the simulation of robots in building construction.
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