FIM-Based Task and Motion Planning for Robotic Bricklaying

This technical report presents a study on the application of Fabrication Information Modeling (FIM) in automating robotic bricklaying processes. The objective is to create a structured pipeline that connects high-level architectural design data with detailed, machine-interpretable specifications for robotic operations. The report outlines the challenges faced in robotic bricklaying, particularly the need for a methodology that can effectively translate Building Information Modeling (BIM) data into actionable robotic instructions. It details the proposed FIM-based framework, which enhances the BIM model by incorporating fabrication attributes at the brick level, facilitating the planning and execution of automated bricklaying tasks. The framework's effectiveness is validated through simulations and real-world applications, demonstrating its capability to manage complex geometries and improve the efficiency of robotic construction workflows. The document also discusses the integration of various methodologies and the significance of addressing the gap between design data and robotic task execution.