Additive Manufacturing using mobile robots: Opportunities and challenges for building construction

In situ Additive Manufacturing (AM) has developed into an active research and industry-transfer area, mainly due to the increasing need for productive and sustainable methods in the concrete construction industry in combination with novel technological enablers. While current systems for in situ AM are often single large-scale stationary facilities, Mobile Additive Manufacturing (MAM) systems are an emerging technology that could provide scalability for AM processes on construction sites. This scalability is achievable through cooperability of multiple mobile robots on individual 3D printing tasks, while their mobility and autonomy enable deployment in both new and existing contexts, and coordination of operations for the direct and indirect interaction with humans. To ensure applicability and scalability, MAM closely integrates architectural, mechanical, and materials design, the manufacturing process, sensing, and control. With this paper, we give a comprehensive review of research trends, open questions and key performance indicators. We support the discussion with potential architectural application scenarios. Overall, we aim to indicate why addressing MAM is an inherently multidisciplinary challenge.