  This paper presents the first demonstration of autonomous roofing with a
multicopter. A DJI S1000 octocopter equipped with an off-the-shelf nailgun and
an adjustableslope roof mock-up were used. The nailgun was modified to allow
triggering from the vehicle and tooltip compression feedback. A mount was
designed to adjust the angle to match representative roof slopes. An
open-source octocopter autopilot facilitated controller adaptation for the
roofing application. A state machine managed autonomous nailing sequences using
smooth trajectories designed to apply prescribed contact forces for reliable
nail deployment. Experimental results showed that the system is capable of
nailing within a required three centimeter gap on the shingle. Extensions to
achieve a complete autonomous roofing system are discussed as future work.
