Abstract: Disclosed herein is a worksite automation process that involves: generating a first sequence of tasks to build the product according to a model. The process further involves causing one or more robotic devices to build the product by beginning to execute the first sequence of tasks. Further, during the execution of the first sequence of tasks, performing a buildability analysis to determine a feasibility of completing the product by executing the first sequence of tasks. Based on the analysis, determining that it is not feasible to complete the product by executing the first sequence of tasks, and in response, generating a second sequence of tasks to complete the product according to the model. Then, causing the one or more robotic devices to continue building the product by beginning to execute the second sequence of tasks.

Abstract: Described herein are methods and systems to establish a pre-build relationship in a model that specifies a first parameter for a first feature of a structure and a second parameter for a second feature of the structure. In particular, a computing system may receive data specifying a pre-build relationship that defines a build value of the first parameter in terms of a post-build observed value of the second parameter. During production of the structure, the computing system may determine the post-build observed value of the second parameter and, based on the determined post-build observed value, may determine the build value of the first parameter in accordance with the pre-build relationship. After determining the build value, the computing system may then transmit, to a robotic system, an instruction associated with production of the first feature by the robotic system, with that instruction specifying the determined build value of the first parameter.

Abstract: A robotic system includes end-effector(s) that combine a plurality of objects in a production process. The system includes sensor(s) that obtain measurement(s) relating to a combination of a first object and one or more other objects during the production process. The system includes a control system communicatively coupled to the sensor(s). The control system stores specifications relating to the combination of the plurality of objects. The control system receives the measurement(s) from the sensor(s), determines a difference based on the measurement(s) and the specifications, determines adjustment(s) to the production process based on the determined difference, and sends, for the end-effector(s), instruction(s) based on the specifications and the one or more adjustment(s). The end-effector(s) combine a second object with the first object and the one or more objects based on the specifications and the one or more adjustment(s).

Abstract: Example implementations may relate to providing a dynamic jig in a three-dimensional (3D) coordinate system. Specifically, a control system may (i) receive task data specifying a manipulation of one or more parts at a specified location; (ii) determine: (a) one or more work surfaces and (b) a first position of each of the one or more work surfaces, such that the one or more work surfaces collectively provide a jig to facilitate the specified manipulation of the parts; (iii) a plurality of guide end effectors that are positionable by one or more robotic devices such that the end effectors provide the work surfaces at the respectively determined first positions; and (iv) operate the one or more robotic devices to position the guide end effectors to provide the one or more work surfaces at the respectively determined first positions, thereby forming the jig from the one or more work surfaces.

Abstract: A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

Abstract: Embodiments described herein may relate to a system comprising a plurality of optical elements, comprising at least a first optical element and one or more secondary optical elements, a heliostat comprising the first optical element, where the heliostat is operable to move the first optical element to continuously reflect light from a non-stationary light source in a beam towards a first of the secondary optical elements, and where the secondary optical elements are arranged to re-direct the reflected beam of light towards an illumination target. The system further includes a controller configured to receive position data indicative of the position of the non-stationary light source over time, and in response to the position data, control at least the heliostat to continuously direct the beam of light towards the first of the secondary optical elements, such that the beam of light is continuously re-directed towards the illumination target.

Abstract: Example implementations relate to generating instructions for robotic tasks. A method may involve determining task information of a path-based task by an end-effector on an object, where the task information includes (i) at least one task parameter, and (ii) a nominal representation of the object. The method also involves based on the task information, determining one or more parametric instructions for the end-effector to perform the task, where the one or more parametric instructions indicate a toolpath for the end-effector to follow when performing the task. The method also involves generating, based on sensor data, an observed representation of the object, and comparing the observed and the nominal representations. The method further involves based on the comparison, mapping the parametric instructions to the observed representation of the object. The method yet further involves sending the mapped instructions to the end-effector to cause the robotic device to perform the task.

Abstract: Disclosed herein is a worksite automation process that involves: generating a first sequence of tasks to build the product according to a model. The process further involves causing one or more robotic devices to build the product by beginning to execute the first sequence of tasks. Further, during the execution of the first sequence of tasks, performing a buildability analysis to determine a feasibility of completing the product by executing the first sequence of tasks. Based on the analysis, determining that it is not feasible to complete the product by executing the first sequence of tasks, and in response, generating a second sequence of tasks to complete the product according to the model. Then, causing the one or more robotic devices to continue building the product by beginning to execute the second sequence of tasks.

Abstract: Described herein are methods and systems to establish a pre-build relationship in a model that specifies a first parameter for a first feature of a structure and a second parameter for a second feature of the structure. In particular, a computing system may receive data specifying a pre-build relationship that defines a build value of the first parameter in terms of a post-build observed value of the second parameter. During production of the structure, the computing system may determine the post-build observed value of the second parameter and, based on the determined post-build observed value, may determine the build value of the first parameter in accordance with the pre-build relationship. After determining the build value, the computing system may then transmit, to a robotic system, an instruction associated with production of the first feature by the robotic system, with that instruction specifying the determined build value of the first parameter.

Abstract: A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

Abstract: Described herein are methods and systems to establish a pre-build relationship in a model that specifies a first parameter for a first feature of a structure and a second parameter for a second feature of the structure. In particular, a computing system may receive data specifying a pre-build relationship that defines a build value of the first parameter in terms of a post-build observed value of the second parameter. During production of the structure, the computing system may determine the post-build observed value of the second parameter and, based on the determined post-build observed value, may determine the build value of the first parameter in accordance with the pre-build relationship. After determining the build value, the computing system may then transmit, to a robotic system, an instruction associated with production of the first feature by the robotic system, with that instruction specifying the determined build value of the first parameter.

Abstract: A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

Abstract: Example implementations may relate to providing a dynamic jig in a three-dimensional (3D) coordinate system. Specifically, a control system may (i) receive task data specifying a manipulation of one or more parts at a specified location; (ii) determine: (a) one or more work surfaces and (b) a first position of each of the one or more work surfaces, such that the one or more work surfaces collectively provide a jig to facilitate the specified manipulation of the parts; (iii) a plurality of guide end effectors that are positionable by one or more robotic devices such that the end effectors provide the work surfaces at the respectively determined first positions; and (iv) operate the one or more robotic devices to position the guide end effectors to provide the one or more work surfaces at the respectively determined first positions, thereby forming the jig from the one or more work surfaces.

Abstract: Example implementations relate to generating instructions for robotic tasks. A method may involve determining task information of a path-based task by an end-effector on an object, where the task information includes (i) at least one task parameter, and (ii) a nominal representation of the object. The method also involves based on the task information, determining one or more parametric instructions for the end-effector to perform the task, where the one or more parametric instructions indicate a toolpath for the end-effector to follow when performing the task. The method also involves generating, based on sensor data, an observed representation of the object, and comparing the observed and the nominal representations. The method further involves based on the comparison, mapping the parametric instructions to the observed representation of the object. The method yet further involves sending the mapped instructions to the end-effector to cause the robotic device to perform the task.

Abstract: Disclosed herein is a worksite automation process that involves: generating a first sequence of tasks to build the product according to a model. The process further involves causing one or more robotic devices to build the product by beginning to execute the first sequence of tasks. Further, during the execution of the first sequence of tasks, performing a buildability analysis to determine a feasibility of completing the product by executing the first sequence of tasks. Based on the analysis, determining that it is not feasible to complete the product by executing the first sequence of tasks, and in response, generating a second sequence of tasks to complete the product according to the model. Then, causing the one or more robotic devices to continue building the product by beginning to execute the second sequence of tasks.

Abstract: Described herein are methods and systems to establish a pre-build relationship in a model that specifies a first parameter for a first feature of a structure and a second parameter for a second feature of the structure. In particular, a computing system may receive data specifying a pre-build relationship that defines a build value of the first parameter in terms of a post-build observed value of the second parameter. During production of the structure, the computing system may determine the post-build observed value of the second parameter and, based on the determined post-build observed value, may determine the build value of the first parameter in accordance with the pre-build relationship. After determining the build value, the computing system may then transmit, to a robotic system, an instruction associated with production of the first feature by the robotic system, with that instruction specifying the determined build value of the first parameter.

Abstract: Embodiments described herein may relate to a system comprising a plurality of optical elements, comprising at least a first optical element and one or more secondary optical elements, a heliostat comprising the first optical element, where the heliostat is operable to move the first optical element to continuously reflect light from a non-stationary light source in a beam towards a first of the secondary optical elements, and where the secondary optical elements are arranged to re-direct the reflected beam of light towards an illumination target. The system further includes a controller configured to receive position data indicative of the position of the non-stationary light source over time, and in response to the position data, control at least the heliostat to continuously direct the beam of light towards the first of the secondary optical elements, such that the beam of light is continuously re-directed towards the illumination target.

Abstract: A robotic system includes end-effector(s) that combine a plurality of objects in a production process. The system includes sensor(s) that obtain measurement(s) relating to a combination of a first object and one or more other objects during the production process. The system includes a control system communicatively coupled to the sensor(s). The control system stores specifications relating to the combination of the plurality of objects. The control system receives the measurement(s) from the sensor(s), determines a difference based on the measurement(s) and the specifications, determines adjustment(s) to the production process based on the determined difference, and sends, for the end-effector(s), instruction(s) based on the specifications and the one or more adjustment(s). The end-effector(s) combine a second object with the first object and the one or more objects based on the specifications and the one or more adjustment(s).

Abstract: A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

Abstract: Embodiments described herein may relate to a system comprising a plurality of optical elements, comprising at least a first optical element and one or more secondary optical elements, a heliostat comprising the first optical element, where the heliostat is operable to move the first optical element to continuously reflect light from a non-stationary light source in a beam towards a first of the secondary optical elements, and where the secondary optical elements are arranged to re-direct the reflected beam of light towards an illumination target. The system further includes a controller configured to receive position data indicative of the position of the non-stationary light source over time, and in response to the position data, control at least the heliostat to continuously direct the beam of light towards the first of the secondary optical elements, such that the beam of light is continuously re-directed towards the illumination target.