Wang, G; Zhu, C; Chu, H; Mahamadu, AM; Pawar, VM; (2025) Enabling human-robot collaboration in unstructured construction environment through sharing control: Classification, Challenges, and Future Trends. In: 2025 Proceedings of the 42nd ISARC. (pp. pp. 901-908). International Association for Automation and Robotics in Construction (IAARC): Montreal, Canada.

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Abstract

Robots hold great potential for enhancing efficiency, quality, and safety in construction, yet the unstructured and dynamic nature of construction sites limits the feasibility of full automation. Human-robot collaboration (HRC) offers a solution by integrating human expertise with robotic precision to improve adaptability. However, there remains a significant gap in understanding the systematic integration of human and robotic intelligence, particularly in dynamic control sharing. This study addresses this gap through a systematic review of shared control in HRC within unstructured environments, reflecting on its application to construction. A two-layer classification framework is proposed, encompassing”human-in-the-loop” (HITL) and”human-on-the-loop” (HOTL) systems, further divided into five subcategories. Key challenges and future research directions are also identified, providing actionable insights for designing and optimizing HRC systems in complex construction scenarios.

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