5 accepted papers
Mobile 3D Printing (M3DP), using printing-in-motion, is a powerful paradigm for automated construction. A mobile robot, equipped with its own power, materials and an arm-mounted extruder, simultaneously navigates and creates its environment. Such systems can be highly scalable, parallelizable and fl…
Lattice structures allow robotic systems to operate in complex and hazardous environments, e.g. construction, mining and nuclear plants, reliably and effectively. However, current navigation systems for these structures are neither realistic, as they assume simplistic motion primitives and obstacle-…
In this paper, we explore the problem of task-consistent path planning for printing-in-motion via Mobile Manipulators (MM). MM offer a potentially unlimited planar workspace and flexibility for print operations. However, most existing methods have only mobility to relocate an arm which then prints w…
Mobile multi-robot construction systems offer new ways to optimise the on-site construction process. In this paper we begin to investigate the functionality requirements for controlling a team of robots to build structures much greater than their individual workspace. To achieve these aims, we prese…
In this paper, we present a Mobile Agile Printer (MAP) construction robot; a highly agile, 4-legged, omnidirectional robot capable of 3D printing large structures. To overcome dynamic challenges when operating within an outdoors construction site, MAP incorporates a high-DoF 3D printing system conne…