Accurate positioning is crucial in the construction industry, where labor shortages highlight the need for automation. Robotic systems with long kinematic chains are required to reach complex workspaces, including floors, walls, and ceilings. These requirements significantly impact positioning accuracy due to effects such as deflection and backlash in various parts along the kinematic chain. In this work, we introduce a novel approach that integrates deflection and backlash compensation models with high-accuracy accelerometers, significantly enhancing position accuracy. Our method employs a modular framework based on a factor graph formulation to estimate the state of the kinematic chain, leveraging acceleration measurements to inform the model. Extensive testing on publicly released datasets, reflecting real-world construction disturbances, demonstrates the advantages of our approach. The proposed method reduces the $95\%$ error threshold in the xy-plane by $50\%$ compared to the state-of-the-art Virtual Joint Method, and by $31\%$ when incorporating base tilt compensation.

We investigate the potential of using Large Language Models (LLM) to support process model creation in organizational contexts. Specifically, we carry out a case study wherein we develop and test an LLM-based chatbot, PRODIGY (PROcess moDellIng Guidance for You), in a multinational company, the Hilti Group. We are particularly interested in understanding how LLM can aid (human) modellers in creating process flow diagrams. To this purpose, we first conduct a preliminary user study (n=10) with professional process modellers from Hilti, inquiring for various pain-points they encounter in their daily routines. Then, we use their responses to design and implement PRODIGY. Finally, we evaluate PRODIGY by letting our user study's participants use PRODIGY, and then ask for their opinion on the pros and cons of PRODIGY. We coalesce our results in actionable takeaways. Through our research, we showcase the first practical application of LLM for process modelling in the real world, shedding light on how industries can leverage LLM to enhance their Business Process Management activities.

Simultaneous Localization and Mapping (SLAM) is being deployed in real-world applications, however many state-of-the-art solutions still struggle in many common scenarios. A key necessity in progressing SLAM research is the availability of high-quality datasets and fair and transparent benchmarking. To this end, we have created the Hilti-Oxford Dataset, to push state-of-the-art SLAM systems to their limits. The dataset has a variety of challenges ranging from sparse and regular construction sites to a 17th century neoclassical building with fine details and curved surfaces. To encourage multi-modal SLAM approaches, we designed a data collection platform featuring a lidar, five cameras, and an IMU (Inertial Measurement Unit). With the goal of benchmarking SLAM algorithms for tasks where accuracy and robustness are paramount, we implemented a novel ground truth collection method that enables our dataset to accurately measure SLAM pose errors with millimeter accuracy. To further ensure accuracy, the extrinsics of our platform were verified with a micrometer-accurate scanner, and temporal calibration was managed online using hardware time synchronization. The multi-modality and diversity of our dataset attracted a large field of academic and industrial researchers to enter the second edition of the Hilti SLAM challenge, which concluded in June 2022. The results of the challenge show that while the top three teams could achieve an accuracy of 2cm or better for some sequences, the performance dropped off in more difficult sequences.