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Optimizing Task Allocation in Human-in-the-Lead Construction Robotics: A Framework for Wood Assembly–Based Robotics in Panelized Construction.

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Title: Optimizing Task Allocation in Human-in-the-Lead Construction Robotics: A Framework for Wood Assembly–Based Robotics in Panelized Construction.
Authors: Tehrani, Behnam M.1 (AUTHOR) bmoshkinitehrani@ufl.edu, Alwisy, Aladdin2 (AUTHOR) aalwisy@ufl.edu
Source: Journal of Computing in Civil Engineering. Nov2025, Vol. 39 Issue 6, p1-14. 14p.
Subjects: Industrialized building, Tolerance analysis (Engineering), Workflow management systems, Parametric modeling, Work structure, Woodworking machinery, Human-robot interaction, Robot design & construction
Abstract: Existing human–robot collaboration (HRC) research often overemphasizes an equal partnership, which can hinder the effective integration of robots in the dynamic environment of industrialized construction (IC). This paper introduces a Human-in-the-Lead Construction Robotics (HiLCR) framework that prioritizes human leadership. By leveraging humans' ability to handle IC complexities, including customized designs and material variability, HiLCR optimizes task allocation. The proposed two-level framework utilizes design- and task-driven parametric and tolerance analysis. This framework divides tasks into three categories by conducting a parametric analysis (first level) to link design parameters with prefabrication tasks, and a tolerance analysis (second level) using Monte Carlo simulations accounts for material variability, particularly in natural wood assemblies. The results of the tolerance analysis further subdivide tasks into automated and guided standard procedures. The task allocation of 96 standardized IC activities resulted in 65 repetitive procedures automated for robots and 31 guided and dynamic procedures assigned to human workers. Human procedures encompassed all tasks requiring decision-making for fine-tuning assembly, whereas robot procedures included physically demanding (e.g., pick-up) and hazardous operations (e.g., nailing and cutting). [ABSTRACT FROM AUTHOR]
Copyright of Journal of Computing in Civil Engineering is the property of American Society of Civil Engineers and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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DbLabel: Engineering Source
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PubType: Academic Journal
PubTypeId: academicJournal
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  Data: Optimizing Task Allocation in Human-in-the-Lead Construction Robotics: A Framework for Wood Assembly–Based Robotics in Panelized Construction.
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  Data: <searchLink fieldCode="AR" term="%22Tehrani%2C+Behnam+M%2E%22">Tehrani, Behnam M.</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> bmoshkinitehrani@ufl.edu</i><br /><searchLink fieldCode="AR" term="%22Alwisy%2C+Aladdin%22">Alwisy, Aladdin</searchLink><relatesTo>2</relatesTo> (AUTHOR)<i> aalwisy@ufl.edu</i>
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  Data: <searchLink fieldCode="DE" term="%22Industrialized+building%22">Industrialized building</searchLink><br /><searchLink fieldCode="DE" term="%22Tolerance+analysis+%28Engineering%29%22">Tolerance analysis (Engineering)</searchLink><br /><searchLink fieldCode="DE" term="%22Workflow+management+systems%22">Workflow management systems</searchLink><br /><searchLink fieldCode="DE" term="%22Parametric+modeling%22">Parametric modeling</searchLink><br /><searchLink fieldCode="DE" term="%22Work+structure%22">Work structure</searchLink><br /><searchLink fieldCode="DE" term="%22Woodworking+machinery%22">Woodworking machinery</searchLink><br /><searchLink fieldCode="DE" term="%22Human-robot+interaction%22">Human-robot interaction</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+design+%26+construction%22">Robot design & construction</searchLink>
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  Label: Abstract
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  Data: Existing human–robot collaboration (HRC) research often overemphasizes an equal partnership, which can hinder the effective integration of robots in the dynamic environment of industrialized construction (IC). This paper introduces a Human-in-the-Lead Construction Robotics (HiLCR) framework that prioritizes human leadership. By leveraging humans' ability to handle IC complexities, including customized designs and material variability, HiLCR optimizes task allocation. The proposed two-level framework utilizes design- and task-driven parametric and tolerance analysis. This framework divides tasks into three categories by conducting a parametric analysis (first level) to link design parameters with prefabrication tasks, and a tolerance analysis (second level) using Monte Carlo simulations accounts for material variability, particularly in natural wood assemblies. The results of the tolerance analysis further subdivide tasks into automated and guided standard procedures. The task allocation of 96 standardized IC activities resulted in 65 repetitive procedures automated for robots and 31 guided and dynamic procedures assigned to human workers. Human procedures encompassed all tasks requiring decision-making for fine-tuning assembly, whereas robot procedures included physically demanding (e.g., pick-up) and hazardous operations (e.g., nailing and cutting). [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
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  Data: <i>Copyright of Journal of Computing in Civil Engineering is the property of American Society of Civil Engineers and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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    Identifiers:
      – Type: doi
        Value: 10.1061/JCCEE5.CPENG-6570
    Languages:
      – Code: eng
        Text: English
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        PageCount: 14
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      – SubjectFull: Industrialized building
        Type: general
      – SubjectFull: Tolerance analysis (Engineering)
        Type: general
      – SubjectFull: Workflow management systems
        Type: general
      – SubjectFull: Parametric modeling
        Type: general
      – SubjectFull: Work structure
        Type: general
      – SubjectFull: Woodworking machinery
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      – SubjectFull: Human-robot interaction
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      – SubjectFull: Robot design & construction
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      – TitleFull: Optimizing Task Allocation in Human-in-the-Lead Construction Robotics: A Framework for Wood Assembly–Based Robotics in Panelized Construction.
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            NameFull: Tehrani, Behnam M.
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            NameFull: Alwisy, Aladdin
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            – D: 01
              M: 11
              Text: Nov2025
              Type: published
              Y: 2025
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