Sensor Pods and ROS2-TMS for Construction for Cyber-Physical System at Earthwork Sites

In this study, we propose distributed sensor ter-minals named “Sensor Pods” and “Petit-Sensor Pods”, and a Cyber-Physical System (CPS) platform named “ROS2-TMS for Construction” that aims to improve both the efficiency and safety of earthwork operations. The proposed system collects on-site environmental information, stores it in a database, and visualizes it using virtual reality (VR). To evaluate the system's performance in environments simulating real-world earthwork operations, two types of experiments were conducted. In the first experiment, the integrated system of the Sensor Pods and ROS2-TMS for Construction successfully demonstrated the collection of environmental information, its storage, and visualization through VR. The results indicate that the proposed system has significant potential to provide a comprehensive understanding of on-site conditions. In the second experiment, the performance of the Petit-Sensor Pods was verified, confirming its proper functionality and suggesting expanded possibilities for the future use of ROS2- TMS for Construction. This paper presents the developed system and the experiments conducted to assess its performance. A demonstration video is available at: https: / /youtu. be/u4Jo-dU4ewo/.