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CAST: Collision-Aware Assembly with Construction Robots using Simultaneous Trajectory Estimation and Planning

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Multi-robot systems have shown increasing viability in construction due to their ability to execute high-precision actions while reducing human exposure to hazardous tasks. However, these environments have high-dimensional configuration spaces and possess substantial collision-avoidance constraints, which include other robots, assembly objects, and workspace boundaries. We utilize a single factor graph for trajectory estimation and planning that incorporates measured robot states together with explicit collision and learned cable constraints. This supports changing workspaces and enables synch

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