Autonomous Construction Crack Vision-Based Repair Using an Aerial Platform and a Delta Manipulator

Yiyong Gou; Cavid Karca; Jan Krüger; Lucas Dahl; Dean Boonen; Rico Möckel

doi:10.1007/978-3-032-01486-3_34

Autonomous Construction Crack Vision-Based Repair Using an Aerial Platform and a Delta Manipulator

Yiyong Gou
, Cavid Karca
, Jan Krüger
, Lucas Dahl
, Dean Boonen
, Rico Möckel^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceeding › Academic › peer-review

14 Downloads (Pure)

Abstract

Autonomous inspections of civil and critical infrastructure and the ability to perform basic repair operations with drones may lead to increased safety. However, the development of autonomous solutions faces many challenges. To address some of the underlying challenges of autonomous construction repair we developed and present a custom-made aerial robotic platform. Equipped with computer vision for autonomous detection and localization of cracks, a delta manipulator, and a syringe-based cement extruder the presented solution is capable of finding, landing on top, and filling cracks in constructions under lab conditions.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems - 26th Annual Conference, TAROS 2025, Proceedings
Editors	Ana Cavalcanti, Simon Foster, Robert Richardson
Publisher	Springer Verlag
Pages	445-458
Number of pages	14
Volume	16045 LNAI
ISBN (Print)	9783032014856
DOIs	https://doi.org/10.1007/978-3-032-01486-3_34
Publication status	Published - 1 Jan 2026
Event	26th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2025 - York, United Kingdom Duration: 20 Aug 2025 → 22 Aug 2025 https://taros-conference.org/

Publication series

Series	Lecture Notes in Computer Science
Volume	16045 LNAI
ISSN	0302-9743

Conference

Conference	26th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2025
Abbreviated title	TAROS 2025
Country/Territory	United Kingdom
City	York
Period	20/08/25 → 22/08/25
Internet address	https://taros-conference.org/

Keywords

Construction Repair
Crack Detection
Delta Manipulation
Unmanned Aerial Vehicles

Access to Document

10.1007/978-3-032-01486-3_34

Full TextFinal published version, 4.59 MBLicence: Taverne

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Gou, Y., Karca, C., Krüger, J., Dahl, L., Boonen, D., & Möckel, R. (2026). Autonomous Construction Crack Vision-Based Repair Using an Aerial Platform and a Delta Manipulator. In A. Cavalcanti, S. Foster, & R. Richardson (Eds.), Towards Autonomous Robotic Systems - 26th Annual Conference, TAROS 2025, Proceedings (Vol. 16045 LNAI, pp. 445-458). Springer Verlag. https://doi.org/10.1007/978-3-032-01486-3_34

Gou, Yiyong ; Karca, Cavid ; Krüger, Jan et al. / Autonomous Construction Crack Vision-Based Repair Using an Aerial Platform and a Delta Manipulator. Towards Autonomous Robotic Systems - 26th Annual Conference, TAROS 2025, Proceedings. editor / Ana Cavalcanti ; Simon Foster ; Robert Richardson. Vol. 16045 LNAI Springer Verlag, 2026. pp. 445-458 (Lecture Notes in Computer Science, Vol. 16045 LNAI).

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title = "Autonomous Construction Crack Vision-Based Repair Using an Aerial Platform and a Delta Manipulator",

abstract = "Autonomous inspections of civil and critical infrastructure and the ability to perform basic repair operations with drones may lead to increased safety. However, the development of autonomous solutions faces many challenges. To address some of the underlying challenges of autonomous construction repair we developed and present a custom-made aerial robotic platform. Equipped with computer vision for autonomous detection and localization of cracks, a delta manipulator, and a syringe-based cement extruder the presented solution is capable of finding, landing on top, and filling cracks in constructions under lab conditions.",

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note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.; 26th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2025, TAROS 2025 ; Conference date: 20-08-2025 Through 22-08-2025",

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Gou, Y, Karca, C, Krüger, J, Dahl, L, Boonen, D & Möckel, R 2026, Autonomous Construction Crack Vision-Based Repair Using an Aerial Platform and a Delta Manipulator. in A Cavalcanti, S Foster & R Richardson (eds), Towards Autonomous Robotic Systems - 26th Annual Conference, TAROS 2025, Proceedings. vol. 16045 LNAI, Springer Verlag, Lecture Notes in Computer Science, vol. 16045 LNAI, pp. 445-458, 26th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2025, York, United Kingdom, 20/08/25. https://doi.org/10.1007/978-3-032-01486-3_34

Autonomous Construction Crack Vision-Based Repair Using an Aerial Platform and a Delta Manipulator. / Gou, Yiyong; Karca, Cavid; Krüger, Jan et al.
Towards Autonomous Robotic Systems - 26th Annual Conference, TAROS 2025, Proceedings. ed. / Ana Cavalcanti; Simon Foster; Robert Richardson. Vol. 16045 LNAI Springer Verlag, 2026. p. 445-458 (Lecture Notes in Computer Science, Vol. 16045 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceeding › Academic › peer-review

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T1 - Autonomous Construction Crack Vision-Based Repair Using an Aerial Platform and a Delta Manipulator

AU - Gou, Yiyong

AU - Karca, Cavid

AU - Krüger, Jan

AU - Dahl, Lucas

AU - Boonen, Dean

AU - Möckel, Rico

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.

PY - 2026/1/1

Y1 - 2026/1/1

N2 - Autonomous inspections of civil and critical infrastructure and the ability to perform basic repair operations with drones may lead to increased safety. However, the development of autonomous solutions faces many challenges. To address some of the underlying challenges of autonomous construction repair we developed and present a custom-made aerial robotic platform. Equipped with computer vision for autonomous detection and localization of cracks, a delta manipulator, and a syringe-based cement extruder the presented solution is capable of finding, landing on top, and filling cracks in constructions under lab conditions.

AB - Autonomous inspections of civil and critical infrastructure and the ability to perform basic repair operations with drones may lead to increased safety. However, the development of autonomous solutions faces many challenges. To address some of the underlying challenges of autonomous construction repair we developed and present a custom-made aerial robotic platform. Equipped with computer vision for autonomous detection and localization of cracks, a delta manipulator, and a syringe-based cement extruder the presented solution is capable of finding, landing on top, and filling cracks in constructions under lab conditions.

KW - Construction Repair

KW - Crack Detection

KW - Delta Manipulation

KW - Unmanned Aerial Vehicles

U2 - 10.1007/978-3-032-01486-3_34

DO - 10.1007/978-3-032-01486-3_34

M3 - Conference article in proceeding

SN - 9783032014856

VL - 16045 LNAI

T3 - Lecture Notes in Computer Science

SP - 445

EP - 458

BT - Towards Autonomous Robotic Systems - 26th Annual Conference, TAROS 2025, Proceedings

A2 - Cavalcanti, Ana

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PB - Springer Verlag

T2 - 26th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2025

Y2 - 20 August 2025 through 22 August 2025

ER -

Gou Y, Karca C, Krüger J, Dahl L, Boonen D , Möckel R. Autonomous Construction Crack Vision-Based Repair Using an Aerial Platform and a Delta Manipulator. In Cavalcanti A, Foster S, Richardson R, editors, Towards Autonomous Robotic Systems - 26th Annual Conference, TAROS 2025, Proceedings. Vol. 16045 LNAI. Springer Verlag. 2026. p. 445-458. (Lecture Notes in Computer Science, Vol. 16045 LNAI). doi: 10.1007/978-3-032-01486-3_34

Autonomous Construction Crack Vision-Based Repair Using an Aerial Platform and a Delta Manipulator

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