Localization and navigation of construction robots: A human-centric review

Construction robots are increasingly developed and deployed to meet modern construction demands. Localization and navigation (L&N) are fundamental capabilities of autonomous robots but remain challenging on unstructured construction sites. Enhancing L&N performance is essential for achieving safe coexistence and effective collaboration between humans and robots in construction. A systematic review of L&N technologies in construction robotics can guide future human-centric development but remains lacking in the literature. This paper addresses this gap by reviewing 281 relevant publications on L&N in construction robotics. First, existing L&N technologies are reviewed and compared using a clear classification framework, providing a comprehensive reference for future advancements. Second, human involvement and human-awareness capabilities in current construction robotic systems are analyzed to inform future human-centric design. Finally, research gaps are identified and future research directions are outlined.