Automated wall finishing system and method

One or more non-transitory computer-readable media comprising instructions that, when executed by one or more processors of a robotic surface finishing system, cause the one or more processors to:

• create a map of one or more target surfaces;
• determine a model based on the map, wherein the model has one or more high points and one or more low points of the one or more target surfaces;
• determine one or more toolpaths and one or more tool parameters based on the model, and a desired coating application thickness profile;
• and
• generate instructions to control a robotic surface finishing system having a coating end effector according to the one or more toolpaths and the one or more tool parameters;
• wherein the instructions cause the robotic surface finishing system to apply multiple coatings of coating material onto the one or more target surfaces using the coating end effector and achieve the desired coating application thickness profile, wherein determining the one or more toolpaths and the one or more tool parameters comprises reducing a coating thickness of a first coating of the coating material in an overlap region.

One or more non-transitory computer-readable media comprising instructions that, when executed by one or more processors of a robotic surface finishing system, cause the one or more processors to:

• create a map of one or more target surfaces;
• determine a model based on the map, wherein the model has one or more high points and one or more low points of the one or more target surfaces;
• determine one or more toolpaths and one or more tool parameters based on the model, and a desired coating application thickness profile;
• and
• generate instructions to control a robotic surface finishing system having a coating end effector according to the one or more toolpaths and the one or more tool parameters;
• wherein the instructions cause the robotic surface finishing system to apply multiple coatings of coating material onto the one or more target surfaces using the coating end effector and achieve the desired coating application thickness profile, wherein determining the one or more toolpaths and the one or more tool parameters comprises determining a coating thickness of a first coating of the coating material based on anticipated shrinkage of the first coating, the anticipated shrinkage being determined from environmental information obtained from one or more sensors of the robotic surface finishing system.