This project develops a novel gaze-directed UAV-UGV coordination framework for on-site quality inspection of precast bridge construction. UAV will provide global coverage for inspectors to quickly identify the components and construction activities for inspection while UGV will navigate to specific locations for close inspection following human guidance. A new gaze-directed human-machine interface, where inspectors can express their guidance via natural gaze movements, to reduce worker mental load. The framework is intended to transform the practice of onsite quality inspection for precast infrastructure construction by establishing intuitive multi-robot-human teaming for efficient inspection. Such a system can be extended to provide guidance during bridge installation, thus improving construction quality and durability with reduced rework. The researched framework can also be extended for lifecycle inspection, including offsite component inspection and condition monitoring of existing infrastructure, and eventually improve the durability and extend the life of precast transportation infrastructure.

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