Research
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Design and Simulation of Time-energy Optimal Anti-swing Trajectory Planner for Autonomous Tower Cranes
Abstract
For autonomous crane lifting, optimal trajectories of the crane are required as reference inputs to the crane controller to facilitate feedforward control. Reducing the unactuated payload motion is a crucial issue for under-actuated towe...
Publication · June 18, 2026
Multi-objective Anti-swing Trajectory Planning of Double-pendulum Tower Crane Operations using Opposition-based Evolutionary Algorithm
Abstract
Underactuated tower crane lifting requires time-energy optimal trajectories for the trolley/slew operations and reduction of the unactuated swings resulting from the trolley/jib motion. In scenarios involving non-negligible hook mass or ...
Publication · June 18, 2026
Laser Scanned Real Environment for Intelligent Virtualization of Crane Lifting
Abstract
This paper presents an intelligent path planner for lifting tasks by tower cranes in highly complex environments, such as old industrial plants that were built many decades ago and sites used as tentative storage spaces. Generally, these...
Publication · June 18, 2026
BIM4D-based scheduling for assembling and lifting in precast-enabled construction
Abstract
This research addresses the problem of assembly scheduling in crane-assisted precast construction while considering issues of building layout interference and optimal crane lifting. Traditionally, assembly scheduling and lifting path pla...
Publication · June 18, 2026
Automatic re-planning of lifting paths for robotized tower cranes in dynamic BIM environments
Abstract
Computer-Aided Lift Planning (CALP) systems provide smart and optimal solutions for automatic crane lifting, supported by intelligent decision-making and planning algorithms along with computer graphics and simulations. Re-planning colli...
Publication · June 18, 2026
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