This paper proposes a holistic framework to address the problem of robotic automation in construction sites, which is hampered by the constantly changing environment of construction sites, the lack of robotics experts, and the lack of a standardized framework linking robotics and construction practices. Using mobile modular reconfigurable robots, we present a framework for construction task specification, robot shape optimization, and task execution, where users can specify and monitor desired robot motions through a graphical interface. Unlike existing monolithic solutions, we integrate BIM to automatically identify new robots for each task. We utilize modular robot components to rapidly adapt robot hardware to the requirements of specific construction tasks. Unlike previous modular robot optimization studies, we consider multiple competing objectives to explicitly model real-world transition challenges such as calibration errors. We optimize the robot for drilling and spray painting through simulations, and demonstrate successful autonomous execution of robot drilling through experimental validation.
