1 nstitute for Automation of Complex Power Systems, ACS‚ RWTH Aachen University, Germany
2 Construction Robotics GmbH, Aachen, Germany
3 Laboratory for Machine Tools and Production Engineering, WZL, RWTH Aachen University, Germany
4 Chair for Individualized Production, RWTH Aachen University, Germany
5 Fraunhofer Institute for Production Technology, IPT,Aachen, Germany
6 Fraunhofer Institute for Applied Information Technology, FIT,Sankt Augustin, Germany