Autonomous Control Strategy for High Precision Marking of Installation Drill Holes Using a Mobile Robot

  • Jürgen Pannek
  • Tom Naundorf
  • Matthias Gerdts
Conference paper
Part of the Lecture Notes in Logistics book series (LNLO)


Modern production lines typically consist of several components, which have to be installed with high precision in order to work together harmoniously. Upon installation of this equipment, a vast number of drill holes need to be marked. This stage of the setup process of a factory is performed manually at present and henceforth it is both time-consuming and error-prone. Within this work, we present a method to accomplish this task autonomously by means of possibly multiple mobile robots. To this end, we propose a hierarchical event based control strategy for the mixed-integer optimal control problem and provide insight into real-time capable solution methods. Moreover, an experimental setup utilizing a Leica AT901-LR laser tracker and a KUKA youBot is studied. This case study shows that the process can be performed autonomously satisfying the desired marking precision and yet be completed within a shorter time frame thus reducing the costs.


Autonomous control Feedback design Event base control 



We like to thank Prof. Heunecke and Mr. Liebl from the Institute of Geodesy for their cooperation in the usage of the Leica AT901-LR laser tracker and fruitful comments throughout the project.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Faculty of Production EngineeringUniversity of BremenBremenGermany
  2. 2.Faculty of Aerospace EngineeringUniversity of the Federal Armed ForcesMunichGermany

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