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The authors describe practical sensor systems suitable for a mobile bricklaying robot for automated masonry construction on a building site. The major sources of error encountered during the automated masonry construction process as well as the required tolerances for the masonry process are described. Based on these considerations, two sensor strategies for positioning and orientating the robot are described in detail. An assessment of these strategies and a description of simulation results conclude this article.

This article gives insight into a current research project aiming at the on-site manufacturing of masonry with the assistance of an automatic mobile robot. Regarding an application orientated realisation, a commercial construction machine is modified and converted into a bricklaying robot. The paper describes the kinematic structure of the robot, the sequence of the automated construction of masonry and an open and efficient multitasking control system for the bricklaying robot.

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The dramatic shortage of skilled workers and a strong need of improving productivity and efficiency characterizes the situation of masonry construction in Germany today. Therefore, the construction enterprises affected must strengthen their efforts to develop and introduce automation technology for use on the construction site. Such concepts, however, can only be successful, if the national characteristics of masonry construction in Germany are considered, and if the construction industry's demands and needs in terms of flexibility, robustness and economy can be met. Taking these factors into account, the requirements of a mobile robot for on-site construction of masonry have been defined and a highperformance robot control system has been designed.