Construction navigationIntermediate
CORNAV: Construction-Aware Reasoning for Robot Navigation on Active Worksites
This preprint presents CORNAV, a navigation system that lets robots operate on active construction sites by combining 2D CAD blueprints, project schedules, open-vocabulary 3D scene graphs, and LLM safety checks. In ablation tests, blueprint grounding raised task success from 13.0% to 72.2% and schedule awareness eliminated hard-zone violations, while safety validation cut hazardous-zone entry from 100% to 0% for mislabeled hazards. The approach matters because it avoids the need for BIM models and lets robots follow site safety constraints that change over time.