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Florian Noichl, Sebastian Esser, Jonas Schlenger

• Construction projects often struggle with cost overruns and time delays, prompting the use of continuous progress monitoring. After initiating a project, crucial processes can be monitored geometrically using conventional methods, cameras, surveying equipment, or advanced technology like laser scanning and high-resolution cameras. Robotic platforms, such as UAVs, UGVs, and quadruped robots, can carry sensors and equipment to perform these surveying tasks to automate processes further. Before any data collection can be performed, the scanning process must be thoroughly planned based on the requirements for the information to be collected, the anticipated conditions at the job site, and the hardware specifications of the equipment being used. Recent advances in the field of incremental model updates provide a promising technique for identifying critical perspectives by analyzing BIM models that reflect specific construction milestones. In this paper, we present an approach to automatically generate suitable scan strategies focused on such construction milestones, originating from a 4D BIM model. Our proposed solution can consider the dynamically changing environment of a construction site while ensuring globally suitable optimized equipment placement. The incremental nature of this approach promises detailed insights into actual construction progress while limiting the effort required at each construction stage for efficient and high-quality coverage.