Interior-finishing operations are very time consuming and require a high degree of accuracy. There are several mobile robots developed to compact and control the thickness of concrete. The overall control of the KIST floor robotic troweling system [34] introduces a network-based real-time distributed architecture under CAN in order to coordinate the fleet of robots. Painting is another important finishing task. Technion developed several painting robots [35] where the key problems are the spraying tools and the positioning the robot to maximize the painted area. In the area of interior assembly, the Waseda Construction Robot (WASCOR) project (1993-1997) [36] obtained significant results in the assembly of wall panels with mobile robots.