  We present a fully-integrated sensing and control system which enables mobile
manipulator robots to execute building tasks with millimeter-scale accuracy on
building construction sites. The approach leverages multi-modal sensing
capabilities for state estimation, tight integration with digital building
models, and integrated trajectory planning and whole-body motion control. A
novel method for high-accuracy localization updates relative to the known
building structure is proposed. The approach is implemented on a real platform
and tested under realistic construction conditions. We show that the system can
achieve sub-cm end-effector positioning accuracy during fully autonomous
operation using solely on-board sensing.
