  Precise markings for drilling and assembly are crucial, laborious
construction tasks. Aerial robots with suitable end-effectors are capable of
markings at the millimeter scale. However, so far, they have only been
demonstrated under laboratory conditions where rigid state estimation and
navigation assumptions do not impede robustness and accuracy. This paper
presents a complete aerial layouting system capable of precise markings on-site
under realistic conditions. We use a compliant actuated end-effector on an
omnidirectional flying base. Combining a two-stage factor-graph state estimator
with a Riemannian Motion Policy-based navigation stack, we avoid the need for a
globally consistent estimate and increase robustness. The policy-based
navigation is structured into individual behaviors in different state spaces.
Through a comprehensive study, we show that the system creates highly precise
markings at a relative precision of 1.5 mm and a global accuracy of 5-6 mm and
discuss the results in the context of future construction robotics.
