A method executed by a control system including one or more processors and one or more data storage devices the method performing the following steps: receiving an instruction to build a product, wherein the instruction comprises at least one or more specified performance constraints, a performance constraint being a constraint on performance of the building process; during a pre-build phase of building a product, generating a first sequence of tasks to build the product according to a model of the product and that would satisfy the one or more specified performance constraints for the build process; during a build phase, causing one or more robotic devices to build the product by beginning to execute the first sequence of tasks; during the execution of the first sequence of tasks, performing a buildability analysis using sensor and/or feedback data from the one or more robotic devices to detect whether one or more deviations between the model and the as-built product have occurred and to determine whether performing the tasks that have not been performed would further compound on the deviation such that the final product would not satisfy the one or more specified performance constraints for the build process; determining , based on the analysis, that it is not feasible to complete the product by executing the first sequence of tasks; in response to determining that it is not feasible to complete the product by performing the first sequence of tasks, generating a new model of the product that builds off of the as-built product and generating a second sequence of tasks to complete the product according to the new model, wherein the second sequence of tasks is different from the first sequence of tasks; and causing the one or more robotic devices to continue building the product according to the new model by beginning to execute the second sequence of tasks. receiving an instruction to build a product, wherein the instruction comprises at least one or more specified performance constraints, a performance constraint being a constraint on performance of the building process; during a pre-build phase of building a product, generating a first sequence of tasks to build the product according to a model of the product and that would satisfy the one or more specified performance constraints for the build process; during a build phase, causing one or more robotic devices to build the product by beginning to execute the first sequence of tasks; during the execution of the first sequence of tasks, performing a buildability analysis using sensor and/or feedback data from the one or more robotic devices to detect whether one or more deviations between the model and the as-built product have occurred and to determine whether performing the tasks that have not been performed would further compound on the deviation such that the final product would not satisfy the one or more specified performance constraints for the build process; determining , based on the analysis, that it is not feasible to complete the product by executing the first sequence of tasks; in response to determining that it is not feasible to complete the product by performing the first sequence of tasks, generating a new model of the product that builds off of the as-built product and generating a second sequence of tasks to complete the product according to the new model, wherein the second sequence of tasks is different from the first sequence of tasks; and causing the one or more robotic devices to continue building the product according to the new model by beginning to execute the second sequence of tasks. <EOS>