{"id":"https://openalex.org/W4411336521","doi":"https://doi.org/10.1109/tase.2025.3579720","title":"Holistic Construction Automation With Modular Robots: From High-Level Task Specification to Execution","display_name":"Holistic Construction Automation With Modular Robots: From High-Level Task Specification to Execution","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411336521","doi":"https://doi.org/10.1109/tase.2025.3579720"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3579720","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3579720","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tase.2025.3579720","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042244726","display_name":"Jonathan K\u00fclz","orcid":"https://orcid.org/0000-0003-4310-6705"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jonathan K\u00fclz","raw_affiliation_strings":["Department of Computer Engineering, Technical University of Munich, Munich, Germany","Department of Computer Engineering, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Computer Engineering, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027017378","display_name":"Michael Terzer","orcid":"https://orcid.org/0009-0002-5940-0167"},"institutions":[{"id":"https://openalex.org/I4210104565","display_name":"Fraunhofer Italia Research","ror":"https://ror.org/015hz7767","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210104565","https://openalex.org/I4923324"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Michael Terzer","raw_affiliation_strings":["Robotics and Intelligent Systems Engineering Unit, Fraunhofer Italia Research, Bolzano, Italy","Fraunhofer Italia Research, Robotics and Intelligent Systems Engineering, Italy"],"affiliations":[{"raw_affiliation_string":"Robotics and Intelligent Systems Engineering Unit, Fraunhofer Italia Research, Bolzano, Italy","institution_ids":["https://openalex.org/I4210104565"]},{"raw_affiliation_string":"Fraunhofer Italia Research, Robotics and Intelligent Systems Engineering, Italy","institution_ids":["https://openalex.org/I4210104565"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114319794","display_name":"Marco Magri","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104565","display_name":"Fraunhofer Italia Research","ror":"https://ror.org/015hz7767","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210104565","https://openalex.org/I4923324"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Magri","raw_affiliation_strings":["Robotics and Intelligent Systems Engineering Unit, Fraunhofer Italia Research, Bolzano, Italy","Fraunhofer Italia Research, Robotics and Intelligent Systems Engineering, Italy"],"affiliations":[{"raw_affiliation_string":"Robotics and Intelligent Systems Engineering Unit, Fraunhofer Italia Research, Bolzano, Italy","institution_ids":["https://openalex.org/I4210104565"]},{"raw_affiliation_string":"Fraunhofer Italia Research, Robotics and Intelligent Systems Engineering, Italy","institution_ids":["https://openalex.org/I4210104565"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062662374","display_name":"Andrea Giusti","orcid":"https://orcid.org/0000-0003-1275-8161"},"institutions":[{"id":"https://openalex.org/I4210104565","display_name":"Fraunhofer Italia Research","ror":"https://ror.org/015hz7767","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210104565","https://openalex.org/I4923324"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Giusti","raw_affiliation_strings":["Robotics and Intelligent Systems Engineering Unit, Fraunhofer Italia Research, Bolzano, Italy","Fraunhofer Italia Research, Robotics and Intelligent Systems Engineering, Italy"],"affiliations":[{"raw_affiliation_string":"Robotics and Intelligent Systems Engineering Unit, Fraunhofer Italia Research, Bolzano, Italy","institution_ids":["https://openalex.org/I4210104565"]},{"raw_affiliation_string":"Fraunhofer Italia Research, Robotics and Intelligent Systems Engineering, Italy","institution_ids":["https://openalex.org/I4210104565"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005383495","display_name":"Matthias Althoff","orcid":"https://orcid.org/0000-0003-3733-842X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Althoff","raw_affiliation_strings":["Department of Computer Engineering, Technical University of Munich, Munich, Germany","Department of Computer Engineering, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Computer Engineering, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5042244726"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":4.0319,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.93268887,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"16716","last_page":"16727"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11006","display_name":"BIM and Construction Integration","score":0.9796000123023987,"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/T11006","display_name":"BIM and Construction Integration","score":0.9796000123023987,"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/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.965399980545044,"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":0.9585000276565552,"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/modular-design","display_name":"Modular design","score":0.7230772972106934},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.7077770233154297},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6847148537635803},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6337490081787109},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.617404043674469},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.5651597380638123},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.5059630274772644},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.4131104052066803},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.3598873019218445},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.347493439912796},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3280539810657501},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.2996959090232849},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2911587953567505},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13679319620132446}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7230772972106934},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.7077770233154297},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6847148537635803},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6337490081787109},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.617404043674469},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.5651597380638123},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.5059630274772644},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.4131104052066803},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.3598873019218445},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.347493439912796},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3280539810657501},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.2996959090232849},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2911587953567505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13679319620132446},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tase.2025.3579720","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3579720","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1785439","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1785439","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:unibz.it:11348890620001241","is_oa":true,"landing_page_url":"https://bia.unibz.it/esploro/outputs/journalArticle/Holistic-Construction-Automation-With-Modular-Robots/991007142709801241","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1109/tase.2025.3579720","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3579720","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2574817894","display_name":null,"funder_award_id":"AL 1185/31-1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G3964476270","display_name":null,"funder_award_id":"101016007","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W896972960","https://openalex.org/W1042486207","https://openalex.org/W1513316543","https://openalex.org/W1609223620","https://openalex.org/W1747778109","https://openalex.org/W1950076120","https://openalex.org/W2036109172","https://openalex.org/W2083421359","https://openalex.org/W2089087399","https://openalex.org/W2105126472","https://openalex.org/W2117085697","https://openalex.org/W2126105956","https://openalex.org/W2149841830","https://openalex.org/W2166965569","https://openalex.org/W2200588385","https://openalex.org/W2205975260","https://openalex.org/W2486764282","https://openalex.org/W2527947577","https://openalex.org/W2605102758","https://openalex.org/W2751488618","https://openalex.org/W2807113035","https://openalex.org/W2884283402","https://openalex.org/W2950430092","https://openalex.org/W2960054529","https://openalex.org/W2990747716","https://openalex.org/W2993398084","https://openalex.org/W2997649476","https://openalex.org/W3003909751","https://openalex.org/W3007469703","https://openalex.org/W3090267060","https://openalex.org/W3122245868","https://openalex.org/W3131140628","https://openalex.org/W3137208282","https://openalex.org/W3202051213","https://openalex.org/W3202468376","https://openalex.org/W4225639672","https://openalex.org/W4234735166","https://openalex.org/W4283775706","https://openalex.org/W4323354522","https://openalex.org/W4380988197","https://openalex.org/W4387143414","https://openalex.org/W4389665558","https://openalex.org/W4389665614","https://openalex.org/W4390099487","https://openalex.org/W4392876802","https://openalex.org/W4399043731","https://openalex.org/W4401416253","https://openalex.org/W4401417374","https://openalex.org/W4403534362","https://openalex.org/W6605861540","https://openalex.org/W6761443123","https://openalex.org/W6860775166"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2130464959","https://openalex.org/W2166742878","https://openalex.org/W2313074614","https://openalex.org/W2883992449","https://openalex.org/W3015461243"],"abstract_inverted_index":{"In":[0,65],"situ":[1],"robotic":[2,16,164],"automation":[3],"in":[4,141],"construction":[5,27,36,107],"is":[6],"challenging":[7],"due":[8],"to":[9,67,101,125],"constantly":[10],"changing":[11],"environments,":[12],"a":[13,19,32,47,62,74],"shortage":[14],"of":[15,21,40,98,105,130,163],"experts,":[17],"and":[18,26,43,55,148],"lack":[20],"standardized":[22],"frameworks":[23],"bridging":[24],"robotics":[25],"practices.":[28],"This":[29],"work":[30],"proposes":[31],"holistic":[33],"framework":[34,88,140],"for":[35,78,146],"task":[37,80],"specification,":[38],"optimization":[39],"robot":[41,59,77,91,99,115],"morphology,":[42],"mission":[44],"execution":[45,162],"using":[46],"mobile":[48],"modular":[49,90,114],"reconfigurable":[50],"robot.":[51],"Users":[52],"can":[53],"specify":[54],"monitor":[56],"the":[57,95,102,106,128,160],"desired":[58],"behavior":[60],"through":[61],"graphical":[63],"interface.":[64],"contrast":[66],"existing,":[68],"monolithic":[69],"solutions,":[70],"we":[71,117],"automatically":[72],"identify":[73],"new":[75],"task-tailored":[76],"every":[79],"by":[81,143],"integrating":[82],"Building":[83],"Information":[84],"Modeling":[85],"(BIM).":[86],"Our":[87],"leverages":[89],"components":[92],"that":[93,155],"enable":[94],"fast":[96],"adaption":[97],"hardware":[100],"specific":[103],"demands":[104],"task.":[108],"Other":[109],"than":[110],"previous":[111],"works":[112],"on":[113],"optimization,":[116],"consider":[118],"multiple":[119],"competing":[120],"objectives,":[121],"which":[122],"allow":[123],"us":[124],"explicitly":[126],"model":[127],"challenges":[129],"real-world":[131],"transfer,":[132],"such":[133],"as":[134],"calibration":[135],"errors.":[136],"We":[137],"demonstrate":[138],"our":[139,156],"simulation":[142],"optimizing":[144],"robots":[145],"drilling":[147],"spray":[149],"painting.":[150],"Finally,":[151],"experimental":[152],"validation":[153],"demonstrates":[154],"approach":[157],"robustly":[158],"enables":[159],"autonomous":[161],"drilling.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}