{"id":"https://openalex.org/W4416750283","doi":"https://doi.org/10.1109/iros60139.2025.11246805","title":"Safety-Aware Optimal Scheduling for Autonomous Masonry Construction using Collaborative Heterogeneous Aerial Robots","display_name":"Safety-Aware Optimal Scheduling for Autonomous Masonry Construction using Collaborative Heterogeneous Aerial Robots","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750283","doi":"https://doi.org/10.1109/iros60139.2025.11246805"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246805","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092537659","display_name":"Marios-Nektarios Stamatopoulos","orcid":"https://orcid.org/0009-0004-8990-2066"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Marios-Nektarios Stamatopoulos","raw_affiliation_strings":["Luleå University of Technology,Robotics and Artificial Intelligence Group,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,971 87"],"affiliations":[{"raw_affiliation_string":"Luleå University of Technology,Robotics and Artificial Intelligence Group,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,971 87","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050545342","display_name":"Shridhar Velhal","orcid":"https://orcid.org/0000-0002-6906-653X"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Shridhar Velhal","raw_affiliation_strings":["Luleå University of Technology,Robotics and Artificial Intelligence Group,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,971 87"],"affiliations":[{"raw_affiliation_string":"Luleå University of Technology,Robotics and Artificial Intelligence Group,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,971 87","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036803875","display_name":"Avijit Banerjee","orcid":"https://orcid.org/0000-0003-3557-6782"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Avijit Banerjee","raw_affiliation_strings":["Luleå University of Technology,Robotics and Artificial Intelligence Group,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,971 87"],"affiliations":[{"raw_affiliation_string":"Luleå University of Technology,Robotics and Artificial Intelligence Group,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,971 87","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064878830","display_name":"George Nikolakopoulos","orcid":"https://orcid.org/0000-0003-0126-1897"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["Luleå University of Technology,Robotics and Artificial Intelligence Group,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,971 87"],"affiliations":[{"raw_affiliation_string":"Luleå University of Technology,Robotics and Artificial Intelligence Group,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,971 87","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5092537659"],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":null,"apc_paid":null,"fwci":1.018,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.82022218,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4889","last_page":"4896"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.5004000067710876,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.5004000067710876,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11006","display_name":"BIM and Construction Integration","score":0.10119999945163727,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.09790000319480896,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.6980000138282776},{"id":"https://openalex.org/keywords/masonry","display_name":"Masonry","score":0.5710999965667725},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48649999499320984},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.44909998774528503},{"id":"https://openalex.org/keywords/job-shop-scheduling","display_name":"Job shop scheduling","score":0.43290001153945923},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.3971000015735626},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.3528999984264374},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.3287999927997589}],"concepts":[{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.6980000138282776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6449999809265137},{"id":"https://openalex.org/C535899295","wikidata":"https://www.wikidata.org/wiki/Q272999","display_name":"Masonry","level":2,"score":0.5710999965667725},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48649999499320984},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.44909998774528503},{"id":"https://openalex.org/C55416958","wikidata":"https://www.wikidata.org/wiki/Q6206757","display_name":"Job shop scheduling","level":3,"score":0.43290001153945923},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.3971000015735626},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.374099999666214},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.3528999984264374},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.3287999927997589},{"id":"https://openalex.org/C19768560","wikidata":"https://www.wikidata.org/wiki/Q320727","display_name":"Dependency (UML)","level":2,"score":0.32510000467300415},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3188999891281128},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3073999881744385},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.3025999963283539},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3003999888896942},{"id":"https://openalex.org/C130767629","wikidata":"https://www.wikidata.org/wiki/Q7905205","display_name":"Mortar","level":2,"score":0.2888999879360199},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.2678000032901764},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.2515000104904175},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25110000371932983},{"id":"https://openalex.org/C107568181","wikidata":"https://www.wikidata.org/wiki/Q5319000","display_name":"Dynamic priority scheduling","level":3,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246805","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1579553668","https://openalex.org/W2036613575","https://openalex.org/W2509616029","https://openalex.org/W2886047522","https://openalex.org/W2888043436","https://openalex.org/W2899031044","https://openalex.org/W2970436015","https://openalex.org/W2972745872","https://openalex.org/W2999446437","https://openalex.org/W3004335173","https://openalex.org/W3112271598","https://openalex.org/W3148870627","https://openalex.org/W4241768805","https://openalex.org/W4296552195","https://openalex.org/W4297985168","https://openalex.org/W4375953190","https://openalex.org/W4393074174","https://openalex.org/W4399431552","https://openalex.org/W4399800874"],"related_works":[],"abstract_inverted_index":{"This":[0,36],"paper":[1],"presents":[2],"a":[3,17],"novel":[4],"high-level":[5],"task":[6,97],"planning":[7],"and":[8,33,42,55,86,99,115,127,150,159,172,198],"optimal":[9],"coordination":[10],"framework":[11,94,209],"for":[12,30,52,89,111],"autonomous":[13],"masonry":[14,175],"construction,":[15],"using":[16],"team":[18],"of":[19,25,133,165],"heterogeneous":[20],"aerial":[21,174],"robotic":[22],"workers,":[23],"consisting":[24],"agents":[26],"with":[27,207],"separate":[28],"skills":[29],"brick":[31],"placement":[32],"mortar":[34,48],"application.":[35],"introduces":[37],"new":[38],"challenges":[39],"in":[40,63,169],"scheduling":[41],"coordination,":[43],"particularly":[44],"due":[45],"to":[46,124,137,154,190],"the":[47,57,72,78,112,134,139,151,166,187,201,208],"curing":[49,113,152],"deadline":[50,107],"required":[51],"structural":[53,84,117,196],"bonding":[54],"ensuring":[56,194],"safety":[58,199],"constraints":[59,108,123],"among":[60],"UAVs":[61],"operating":[62],"parallel.":[64],"To":[65],"address":[66],"this,":[67],"an":[68],"automated":[69],"pipeline":[70],"generates":[71],"wall":[73],"construction":[74,141,176,202],"plan":[75],"based":[76],"on":[77],"available":[79,211],"bricks":[80],"while":[81,120,143],"identifying":[82],"static":[83,116],"dependencies":[85],"potential":[87],"conflicts":[88],"safe":[90,160],"operation.":[91],"The":[92,130,163,184],"proposed":[93,167],"optimizes":[95],"UAV":[96,192],"allocation":[98],"execution":[100],"timing":[101],"by":[102],"incorporating":[103],"dynamically":[104],"coupled":[105],"precedence":[106],"that":[109],"account":[110],"process":[114],"dependency":[118],"constraints,":[119],"enforcing":[121],"spatio-temporal":[122],"prevent":[125],"collisions":[126],"ensure":[128],"safety.":[129],"primary":[131],"objective":[132],"scheduler":[135],"is":[136,177,210],"minimize":[138],"overall":[140],"makespan":[142],"minimizing":[144],"logistics,":[145],"traveling":[146],"time":[147,153],"between":[148],"tasks,":[149],"maintain":[155],"both":[156,195],"adhesion":[157],"quality":[158],"workspace":[161],"separation.":[162],"effectiveness":[164],"method":[168],"achieving":[170],"coordinated":[171],"time-efficient":[173],"extensively":[178],"validated":[179],"through":[180],"Gazebo":[181],"simulated":[182],"missions.":[183],"results":[185],"demonstrate":[186],"framework\u2019s":[188],"capability":[189],"streamline":[191],"operations,":[193],"integrity":[197],"during":[200],"process.":[203],"-":[204],"A":[205],"video":[206],"at":[212],"https://youtu.be/kGvFGDCUkDQ":[213]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-11-28T00:00:00"}