无人机自主打印复杂结构，通过分块调度与自适应控制实现高精度建造。
Toward Fully Autonomous Flexible Chunk-Based Aerial Additive Manufacturing: Insights from Experimental Validation
- 将结构分解为可独立打印的块，用依赖图协调任务顺序。
- 实测构建多种形状结构，定位误差小于2.5cm，抗扰动能力显著提升。
- 适合需要灵活、无人干预建筑的工程场景，如灾后重建或偏远地区施工。
本文提出一种新型自主分块式空中增材制造框架，并通过实验验证其在空中3D打印中的应用。基于优化的分解算法将结构拆分为子组件（即“块”），作为独立任务，通过依赖图进行协调，确保考虑相互依赖关系和可打印性约束下的顺序分配，实现无缝执行。采用特制六旋翼无人机，配备加压罐体，实现轻量化可膨胀泡沫材料的可控挤出。为提升打印精度，引入无偏移模型预测控制机制，实时补偿飞行扰动与地面效应。此外，在分块过程中引入嵌锁结构，增强整体结构连结性与层间粘附力。大量实验表明，该框架能精确构建多种形状结构，且能有效应对实际挑战，展现出推动空中机器人自主建造能力跨越式发展的潜力。
原文摘要 · Abstract (English)
A novel autonomous chunk-based aerial additive manufacturing framework is presented, supported with experimental demonstration advancing aerial 3D printing. An optimization-based decomposition algorithm transforms structures into sub-components, or chunks, treated as individual tasks coordinated via a dependency graph, ensuring sequential assignment to UAVs considering inter-dependencies and printability constraints for seamless execution. A specially designed hexacopter equipped with a pressurized canister for lightweight expandable foam extrusion is utilized to deposit the material in a controlled manner. To further enhance precise execution of the printing, an offset-free Model Predictive Control mechanism is considered compensating reactively for disturbances and ground effect during execution. Additionally, an interlocking mechanism is introduced in the chunking process to enhance structural cohesion and improve layer adhesion. Extensive experiments demonstrate the framework's effectiveness in constructing precise structures of various shapes while seamlessly adapting to practical challenges, proving its potential for a transformative leap in aerial robotic capability for autonomous construction.
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