AUTHOR=Braga Rafael Gomes , Tahir Muhammad Owais , Karimi Sina , Dah-Achinanon Ulrich , Iordanova Ivanka , St-Onge David 

TITLE=Intuitive BIM-aided robotic navigation and assets localization with semantic user interfaces

JOURNAL=Frontiers in Robotics and AI

VOLUME=Volume 12 - 2025

YEAR=2025

URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1548684

DOI=10.3389/frobt.2025.1548684

ISSN=2296-9144

ABSTRACT=IntroductionThe deployment of mobile robots on construction sites has gained increasing attention from both academic research and industry due to labor shortages and the demand for more efficient project management. However, integrating robotic systems into dynamic and hazardous construction environments remains challenging. Key obstacles include reliance on extensive on-site infrastructure, limited adaptability, and a disconnect between system capabilities and field operators' needs.MethodsThis study introduces a comprehensive, modular robotic platform designed for construction site navigation and asset localization. The system incorporates Building Information Modeling (BIM)-based semantic navigation, active Ultra-Wideband (UWB) beacon tracking for precise equipment detection, and a cascade navigation stack that integrates global BIM layouts with real-time local sensing. Additionally, a user-centric graphical user interface (GUI) was developed to enable intuitive control for non-expert operators, improving field usability.ResultsThe platform was validated through real-world deployments and simulations, demonstrating reliable navigation in complex layouts and high localization accuracy. A user study was conducted, confirming improved task efficiency and reduced cognitive load for operators.DiscussionThe results indicate that the proposed system provides a scalable, infrastructure-light solution for construction site robotics. By bridging the gap between advanced robotic technologies and practical deployment, this work contributes to the development of more adaptable and user-friendly robotic solutions for construction environments.