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soc ae FM ELSEVIER Procedia Engineering 182 (2017) 165 — 173 a
www.elsevier.com/locate/procedia
7th International Conference on Engineering, Project, and Production Management
Potential Applications of UAV along the Construction’s Value Chain
Quentin F. M. Dupont*, David K. H. Chua, Ahmad Tashrif, Ernest L. S. Abbott
National University of Singapore, Block E1A, #07-03 No. 1 Engineering Drive 2, Singapore
117576, Singapore
Abstract
Building Information Modelling (BIM) is foreseen as a key element in the improvements of
future construction’s productivity. Currently, very few solutions allow the integration of as-
built information into the model. This research explores the potential of Unmanned Aerial
Vehicle (UAV) in linking BIM to the real world to improve the productivity. This paper
presents a technical review of the main challenges in addressing the need mentioned
above. Also, it presents potential use cases. The study concludes that two main areas are to
be analysed in greater depth (1) autonomous indoor flight for a UAV and (2) the smart
integration of collected data into the existing BIM software.
© 2016 The Authors. Published by Elsevier Ltd. This is an open access article under the CC
BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the organizing committee of EPPM2016
Keywords: Building information modelling (BIM); Unmanned Aerial Vehicle (UAV);
construction productivity; construction site’s automation; construction’s value chain
1. Introduction
In the last decade, the productivity gap between manufacturing workers and construction
workers increased by 70% [2]. The question is “why?”
Among the eight reasons the Mc Kinsey’s report [2] provides, are: (1) poor decision making
processes, both in terms of speed and scale; (2) inadequate communication mainly due to
information inconsistencies between the stakeholders; (3) flawed performance
management by lack of communication and accountability; (4) missed
• Corresponding author. Tel.: +6-591-043-293. E-mail address:
quentin.dupont@u.nus.edu
1877-7058 © 2016 The Authors. Published by Elsevier Ltd. This is an open access article
under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the organizing committee of EPPM2016
doi: 10.1016/j.proeng.2017.03.155 166 Quentin F:-M. Dupont et al. / Procedia Engineering
182 (2017) 165 — 173
connection between the different phases of the project due to planning update issues; (5)
poor short term planning, especially on site.
One of the key improvements in the manufacturing industry has been the use of efficient
and integrated information systems. What is it that prevents the construction sector from
using the same tools? It is mainly because manufacturing activities take place in well-
equipped factories, developed for long term usage; while the construction processes take
place on temporary sites designed for a time-bounded usage. Therefore the solutions
addressing manufacturing productivity — like integrated IT system, intensive sensors
usage, etc. — need to be adapted to the ever-changing building environment. It is the main
role of Building Information Modelling. BIM is defined by the US National Building
Information Model Standard Project Committee as “a digital representation of physical and
functional characteristics of a facility. A BIM is a shared knowledge resource for
information about a facility forming a reliable basis for decisions during its life-cycle;
defined as existing from earliest conception to demolition”. A BIM Model looks like a simple
3D-model but is meant to store information like material, cost, or scheduling at
components’ level. This information are shared and improved by all the stakeholders
involved in the entire building’s life. Nevertheless BIM, currently, is not meant to directly
interface with the real world, making it more suitable for design than operations. To
provide an efficient interface between the software and physical data, there is a need to
leverage on flexible and adaptive data collection systems.
In this paper, the potential of Unmanned Aerial Systems (UAS or drones) is explored as a
means to answer the above needs for productivity improvements. With their booming
industry, flexibility and efficiency, these small robots can be part of the key to improve the
site’s productivity. Drones are not meant to perform any construction activities, they are,
however, a great platform to carry sensors and collect data. UAS can be the autonomous
eyes of a fully integrated BIM platform, replacing expensive, inaccurate and time-
consuming manual data collection. Jon Amdur, vice president and program manager for
AECOM’s Unmanned Aerial Systems (DCS Division) explained before the Commercial UAV
Expo (Las Vegas, 2015): “UAVs are forever changing engineering and consulting as we
know it. We now have the opportunity to increase the volume, accuracy and speed in which
we collect and analyse data to help us make better decisions. We’re entering a whole new
world of construction”.
Based on an extensive literature review both in academic and industrial areas, this paper
presents a review of the potential applications of UASs in the construction industry. We will
first focus on the main different challenges raised by the integration of autonomous UAV
into the construction management framework. Then, we will describe the most interesting
foreseen use cases. This paper provides guidelines for future researches, bringing together
both the fields of robotics and construction project management.
2. Main aspects of UAV’s developments
The productivity improvement suggested in this paper relies on a tight interface between
Unmanned Aerial Platforms and BIM software. The following section is briefly summarizing
the main achievements and challenges for the various components of the frameworks
suggested in the section 3. Interdisciplinary is crucial in developing these frameworks.
More interdisciplinary research could be performed, bringing together robotic scientists,
civil engineers and BIM experts. Figure | below attempts to describe the interaction of the
stakeholders required to realise an automated data collection to improve productivity
management through the deployment of UAVs. Quentin F:M. Dupont et al. / Procedia
Engineering 182 (2017) 165 — 173
2.1. UAV regulation
Can UAV fly Can UAV fly long autonomously,
enough? safely and er efficiently? Sy Main stakeholders involved: er UAV expert Dott
havethe ri fly th 99 How can UAV smartly — and/or ‘0 T have the right to fly the UAV?
collect and process data? software)
[3 iE
Toward automated data collection to improved productivity management thanks to UAV:
an interdisciplinary journey
Governments
Civil engineers
Data scientists
bh ATA
How can productivity tools autonomously What productivity tools should be enhanced
trigger data collection? by live data? Software cr a Tat [3 sya je engineers
Si
How can raw data be What type of data linked to existing should be productivity tools?
collected’ ?
éa@ * Te
Fig. 1. Review of the stakeholders icon graphics. Source: [1].
From being completely unregulated, the boom in consumer-grade UAV has forced
governments to enforce new regulations. These new laws obviously affect the commercial
sector. In the US for instance, the Federal Aviation Administration (FAA) prevents
companies for using UAVs for commercial purposes. New companies need to apply for a
specific permit in order to be granted an exemption [3—S]. In France, certified flights must
(1) remain out of specific areas; (2) provide a clear and secured ground area; (3) refrain
from flying above individuals within urban areas; (4) stay within line of sight of a safety
pilot [6]. Lobbying is quite intense between UAV operators and governments. We can
expect the laws to evolve rapidly.
2.2. UAV’s hardware
Apart from the sensing’s issue, tackled below, the major hardware limitation in developing
new application of UAV — and in particular quadcopters — relies on the necessary balance
between payload and flight duration. Batteries are the key issue still to be solved [5]. For
indoor scenario, the size of the aircraft needs to be limited making the supply challenge
even more crucial. Current flight durations of quadcopters hardly reach one hour and the
race is on for battery developers to improve these performances [3, 7].
2.3. UAV’s level of autonomy
The UAV’s autonomy can be measured as the ability to perform mission without the need of
human intervention. In [7] they develop three stages of autonomy, which are:
e sensory-motor autonomy: use only high-level human commands like for instance
trajectory following given GPS coordinates
e reactive autonomy: perform a sensory-motor autonomy which an additional level of
intelligence allowing the robot to handle external perturbations like obstacles
167 168 Quentin F:-M. Dupont et al. / Procedia Engineering 182 (2017) 165 — 173
e cognitive autonomy: perform reactive autonomy but is also able to resolve conflicting
information, achieve simultaneous localization and mapping and even learning.
Currently, reactive autonomy is available on the market both for consumer drones (Dji
Phantom is the most famous of them) and commercial drones. Cognitive autonomy is
available on the market for outdoor navigation, where GPS can be used. Companies like
Skycatch [8] or Delair-Tech [9] are already selling these autonomous UAV for the
construction industry. The challenge is more difficult in indoor environment. The absence
of GPS and the reduced length-scale requires more sophisticated supporting algorithms
and sensing. Prototypes are already available and showcased in various competitions.
Nevertheless, safety and reliability are still to be improved in order to bring the technology
to the market.
2.4. Data collection
Means to collect data with a UAV can be separated into two main categories: laser-based
mainly with LiDAR and visual with either monocular camera or stereo camera. In between
these two solutions lay the RGB-D camera like the famous Microsoft Kinect, providing both
depth measurements and images. When choosing the right type of data to use, there are
two questions to answer taking into account accuracy, reliability, processing requirement,
underlying algorithms:
e Will the data allow a sufficient sensing of the environment to travel safely? e What data
do I need to collect in order to accomplish the mission — in our case, BIM updating?
With the improvements in the Graphical Processing Units (GPU), [7], most of the research
groups are now focusing on vision based sensing [10, 11]. Apart from the cost of high
quality LIDAR — several thousand USD, the move toward vision-based navigation can be
motivated both by (1) the need to create dense 3D model of the sensed environment —
meaning that the model will not be made of points like in a traditional point cloud but of
surface like in a 3D-modelling software; (2) the ability to analyze and capture details at a
smaller scale. Nevertheless, the computational need remains very high and efficient
algorithms are not yet fully available [12].
2.5. BIM interoperability
Once collected, the data needs to be compared or merged with the data used by the end-
user. The addition of a new viewing tool without any link with the BIM software would fail
in answering the need for improving productivity via integrated tools. Therefore, bridges
need to be created between sensed data and BIM models. This area of research and
development remains very small as most projects focus on developing new environment
distinct from BIM software.
2.6. BIM usage
To use an integrated solution at 100%, the construction stakeholders need to be active
users of BIM. Regarding the very positive feedback of current users and the trends at
governments’ level to push industries toward BIM, one can except that the situation will
keep on evolving rapidly [13-15]. Depending on the use case, various level of usage will be
required. They will be presented in the next section.
3. Suggested application and research gaps
The following section focuses on potential use cases of UAV in improving productivity on
construction site. They are the results of the above literature review. Quentin F:M. Dupont
et al. / Procedia Engineering 182 (2017) 165 — 173
3.1. During design phase: integrate the site’s reality to the models
Along with agriculture and aerial photography, construction is one of the main markets for
UAV service providers [3, 4]. Available solutions are working outdoor, either fully
autonomously relying on GPS or being flown by highly skilled pilots. Their main mission is
to scan, in 3D, the landscape of the construction site either during the design or the
construction phase. During the design phase, the goal is to integrate the site’s landscape
into the modelling software. Landscape reality can therefore be taken into account. During
the construction phase, the same UAVs can be used to provide 3D bird eye view of the site,
allowing efficient surface or volume measurements. On the most sophisticated tool
available until now is the Clayco — Skycatch partnership [8]. Based on 3D-mapping of the
site’s landscape, they provide user friendly tools to measure and annotate the maps. In the
meantime, Skycatch is also working in collaboration with the Autodesk University in order
to link topographical survey of the sites and BIM software.
This use-case is therefore well developed now. Improvements will mainly come from UAV-
service providers as the usage will increase. The main challenges will be in integrating
smartly and fluidly the sensed-data into the existing software.
3.2. During construction phase: perform an autonomous and regular monitoring of the site
Performing a regular and autonomous monitoring of the construction phase is part of the
daily life of resident engineers. It is still carried out using photographs, schedules,
spreadsheets, or diverse types of forms. Data are collected by foremen, field engineers or
third-parties surveyors. But these collected data are not integrated into a global
management tool. Several research projects have been carried out in order to identify a
convenient way to bring this information together. Using the BIM model as a platform to
link all the data together appears to be the best solution [16-18]. The literature indicates
that BIM usage is still very limited after the pre-construction stage. It also underlines the
great difficulty to create metrics quantifying the added-value of a 4D-BIM at construction
stage, and further research need to be done in this field.
Goedert et al. [17] implemented a framework connecting site’s as-build 3D model, schedule
and legal documents to a BIM model. In particular, regular 3D-scanning of the site were
performed using a ground station and where then integrated to a BIM commercial
software. The data collection process requires significant human action and appears to be
too demanding for a real situation. This is where UAVs could be used.
Instead of installing the 3D laser scanner on a tripod, like in [17], it could be installed on a
UAV flying autonomously into the construction site. The goal of the automation being: more
flexibility in the scheduling of the investigations, fully comprehensive data collection along
with time-saved for the site’s team. Intensive research has been done in the field of 3D
mapping on UAV using either laser scanning or visual input [10—12, 19]. The main
technical challenge — mainly data processing — has been presented in the above section.
Looking beyond the challenges of both processing the sensors data into a relevant datatype
and integrating this data into a user-friendly BIM interface, one can try to distinguish
several level of usage of such a technology. Two different aspects can be pointed out: (1)
the built-elements themselves, (2) the temporary elements and machineries. Below is a
review of these three potential use cases of UAV-based autonomous monitoring. Each of
these solution being feasible without a UAV, an autonomous platform would provide a
cheaper and more user-friendly solution.
The first and most obvious use case would be to monitor the as-built components. It
appears to be the easiest one as this information is already stored in the BIM model.
Research has been carried out in this direction. In the framework named D4R [20-22], a
comprehensive and user-friendly tool was developed to gather site information into a 4D
BIM. The framework has been implemented in the Flying Superintendents project giving
inspiring results [23]. In this project, the entire construction process of the Sacramento
Stadium was monitored by flying UAV. According to Lincoln Wood — regional manager for
virtual design and construction at Turner Construction Company, the contractor in charge
of the operation — “the powerful thing about (the UAV-based project monitoring) is that it
highlights issues with our schedule grouped by their location in 3D. This streamlines the
management of our weekly work planning efforts by allowing us to visualize and mitigate
potential risks to our schedule before they happen” [24]. This example is a great milestone
showing the added-value of UAV-based progress monitoring. Nevertheless, the flights in
this
169 170 Quentin F:-M. Dupont et al. / Procedia Engineering 182 (2017) 165 — 173
project were heavily relying on GPS which exclude safe autonomous navigation inside the
buildings. Future research should therefore focus on: (1) bridging the gaps between
robotics team and civil engineering teams in order to perform safe autonomous indoor
navigation leveraging on the BIM information; (2) carry on integrating the sensed
information to user-friendly interface following the standards of the BIM community.
Apart from monitoring the as-built information, autonomous study of equipment, material
and temporary structures could also be explored. Autonomous tracking is highly relevant
for precast elements, reducing incorrect installation and improving stock management. In
order to improve just-in-time and lean management, efficient and autonomous tracking of
temporary structures — like scaffoldings — and equipment — like mobile cranes — also
seem to be relevant. In existing frameworks, like D4R [22], these temporary structures are
considered as occlusions and therefore ignored. To take them into account, point cloud
based solutions might not be accurate enough. The traditional sensing could be enhanced
by other technologies like RFID, providing a unique tag to a component regardless of its
visual uniqueness. Given that, the various components could be localized relative to their
environment, reducing drastically the errors linked to a classic GPS-based localization
system. Previous experiments using handheld receivers show promising results [25, 26].
Research needs to be done to integrate such data into BIM models. Merging as-build
information as well as as-is temporary structure into the same platform could enhance site
management especially in detecting potential clashes during construction phase. Current
BIM software is not meant to deal with structures. Software engineering challenges will
rapidly arise [27].
3.3. During construction phase: automatize construction tasks
UAV can provide an up-to-date birds-eye view of an environment. Thanks to this ability,
they are becoming the eyes of driverless dozers. Two private partnerships are competing
to develop these integrated automation solution: the Japanese equipment provider
Komatsu along with the American UAV specialist Skycatch and Caterpillar associated with
the French UAV provider Redbird [28, 29]. Announcing their partnership, Caterpillar stated
that they were moving from being equipment providers to being productivity provider. In
the meantime, Skycatch’s chief executive Christian Sanz appeared to be very optimistic in
creating a robotic building site. He said: “the more visible data that you have on a site, the
more you'll see machines and robots moving things around rather than humans” [29]. The
expected added-value of UAVs is to provide live updating of the terrain data. This rapidly
processed data will then be used to give accurate commands to autonomous dozers
especially in performing levelling tasks. Currently, this process requires time-consuming
data collection at each stage of the project, reducing both the accuracy and the flexibility of
the system.
Currently, academic research has not tackled such large a scale problem. Nevertheless, the
field of robot collaboration is real and could provide relevant insights in the future. For the
moment, most of the research on UAV/ground robot collaboration has been performed for
military purposes [30, 31]. Scaling up will be required to keep up with industrial
developments.
Table | analyses the different applications that leverages on the UAV platform throughout a
building’s life cycle: 1.e. its design, construction and operations phases. The UAV
applications are adumbrated under the rubrics of user needs, existing solutions, UAV added
value, current achievements and gaps to be filled. Under the gaps to be filled rubric is the
identification of areas of technical capabilities in hardware, software, automation and
interfaces as well as market development of new use cases and creation of upstream value
to support downstream needs and use of RFID tags in order to further the development of
the usage of UAV for added productivity. Table 1. Suggested UAV-BIM framework.
Quentin F:M. Dupont et al. / Procedia Engineering 182 (2017) 165 — 173
171
Equipment & material
Task Site survey Progress monitoring tracking Constructing Facility management
User'sneed + Perform accurate and * Stick to the schedule * Optimize the use of * Construct
faster& * Monitor existing suitable design toreduce + Keep accurate logging of the
Tesources cheaper reducing the facilities extra-costs operations for potential claims +
Reduce time spend on workforce’s risk * Communicate on the inventory exposure project
during pre-bid Existing * Qualitative visual survey + Sites reports (w/ discrete * Manual
login (w/ or + Few robots being + Human visual inspection solutions (w/ photographs)
measurements, drawings, w/o bar codes or used on site using when required * Manual
altitude photographs) RFID) elevation device measurements (w/ * Gantt schedules
theodolite) UAV's added + Exhaustive numerical + Autonomous & regular 3D-data +
Autonomous inventory + Bird-eye view for + Fast and easy access to value model collection
tasks other robots most places + Ready to use dense maps (w/ 3D + Access to places
volumes & photographs) human can hardly 20 Existing + Autonomous outdoor + 3D
mapping based on laser + Autonomous + Autonomous dozer- + Video capture and 3D
achievements survey (w/ GPS) * Indoor autonomous flight in navigation for RFID UAV
partnership reconstruction + User interface for academic testbeds tracking and logging *
Outdoor autonomous measurements (volumes & * Some interface between collected flight
areas) data, schedule & designed 3D models Gapstobe + Reduce GPS-reliance for + Improve
reliability of autonomous + Createapull effect + Newusecasesneed + Improve autonomous
filled indoor survey indoor flight upstream of the value to found flight ability to allow +
Develop interface between + Develop computationally realistic chain to generalize access
to congested area 3D data and AEC solution for on-board dense usage of RFID tags
modelling software (BIM) mapping + Improve integration of * Create automated interface
the sensed data into
between collected data, schedule & models
decision making tools
The desired objective of using drones to monitor and measure aspects of a building’s life
cycle, in its interior, is not a practical proposition in terms of productivity unless the drones
are autonomous. Flying autonomous drones in an exterior space with access to GPS is a
mature technology. However, for autonomous navigation within a building, further
research is required. BIM can be exploited to provide the ‘map’ of the building to ease the
navigation. 4D-BIM provides sufficient navigation data together with localization, to enable
proper autonomous flight plan to be developed for drone activities within a building.
Flying drones in a construction’s interior is not limited to a single drone. A number of
autonomous drones working in collaboration can easily improve productivity.
3.4. During exploitation phase: improve decision making tools
UAV can take videos and photographs where humans cannot easily go. It is a positive
advantage when talking about large infrastructure’s monitoring like bridges or dams.
Traditional monitoring relies on expensive and time- consuming visual inspection,
requiring the installation of special equipment (such as scaffoldings, mobile crane...). 172
Quentin F:-M. Dupont et al. / Procedia Engineering 182 (2017) 165 — 173
Academics are already working in this area [32, 33]. Industrial and UAV service providers
are also developing their own technologies and marketing them to contractors or building
owners [3, 34]. Although the service is now available, several areas of improvement may be
identified: (1) the UAV is hardly ever autonomous and relies on the highly skilled pilot; (2)
the system relies on GPS to assist the pilot; (3) automated crack detection is still to be
improved [33].
4. Conclusion
This review outlined the major trends in the usage of UAVs for the construction industry.
The aerial vehicles are already being used in outdoor application for site surveillance and
maintenance. The Construction process itself is still out of the scope of most developments
as it involves tight schedule, congested environment and challenging navigation’s
conditions. In order to provide real productivity improvements, this paper has insisted on
the creation of an integrating environment, where a site’s data should be linked to an
existing BIM platform. The identified challenges to achieve this fall into two main areas: (1)
the robotic challenge of performing safe autonomous navigation in a congested indoor
environment, and (2) the software and civil engineering challenge of integrating sensed
data into the loop of the productivity software. By studying the entire value chain of BIM-
UAV framework, this paper should help the future inter-disciplinary projects addressing
the above challenges.
The challenge of autonomous drones flying in an interior space, with no access to GPS is
one that is currently being researched by a team at the National University of Singapore,
Civil and Environment Department.
Acknowledgements
rt Ministry of Science —_7th International Conference on Engineering, Project, and
Production Management (EPPM2016) was financed and Higher Education jn the
framework of the contract no. 712/P-DUN/2016 by the Ministry of Science and Higher
Education from RES en the funds earmarked for the public understanding of science
initiatives.
7th International Conference on Engineering, Project, and Production Management
(EPPM2016) finansowana wramach umowy 712/P-DUN/2016 ze srodk6w Ministra Nauki i
Szkolnictwa Wyzszego przeznaczonych na dzialalnosé¢ upowszechniajaca nauke.
7th International Conference on Engineering, Project, and Production Management
(EPPM2016) was co-organised by the Agency for Restructuring and Modernisation of
Agriculture (Poland).
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