Collective Aerial Additive Manufacturing: Incrementally Built Shell Structure Design

Collective Aerial Additive Manufacturing: Incrementally Built Shell Structure Design
Aerial robot additive manufacturing (AM) offers a means to supplement existing on-site AM approaches that are limited in build envelope and accessibility, to support automated construction in more diverse locations. Aerial AM has been recently demonstrated by the authors using quadcopters to extrude cementitious and foam materials within tolerances sufficient for building construction (Zhang et al. 2022). However, approaches to the distributed control and mission planning of multi-robot manufacturing and corresponding building design solutions that engage with this novel technology still need to be developed. Although AM supports substantial geometric design freedom, there are practical challenges that currently limit on-site AM to vertically orientated geometries that remain stable during incremental manufacture. The installation of roofing or other spanning structures is difficult to accomplish without support scaffolding or supplementary building methods, rendering complete automation of AM buildings impractical, whilst limiting the ability of designs to offer efficient monolithic structural solutions. Funicular shell geometries (Rippmann and Block 2013) offer a materially efficient solution to a monolithic spanning enclosure, however, they typically require scaffolding during construction, rendering them unsuitable for incremental manufacture by a team of robots, unless mid-construction stability challenges are addressed. This paper proposes a multi-agent mission-planning robot control framework and simulation environment for Collective Aerial Additive Manufacturing (Collective AAM) together with an approach to the design of scaffold-free 3D shell geometries suited to Collective AAM’s adaptive and incremental approach to concurrent building. Individual agent and swarm-based vector steering behaviors are evaluated to support future integration with existing AAM manufacturing capabilities recently published in the journal Nature (Zhang et al. 2022).

Stuart-Smith, R., Darekar, D., Danahy, P., Bahadir Kocer, B., Pawar, V., & Kovac, M. “Collective Aerial Additive Manufacturing and Incrementally Built Shell Structure Design”, In M. Akbarzadeh, D. Aviv, H. Jamelle, & R. Stuart-Smith (Eds.), ACADIA 2022: Proceedings of the 42nd Annual Conference of the Association of Computer Aided Design in Architecture (ACADIA): Hybrids and Haecceities (pp. 44–55). IngramSpark, 2023.

The paper is available for download on the Cumincad website here.