YouWasps: Towards Autonomous MultiRobot Mobile Deposition for Construction Mobile multirobot construction systems offer new ways to optimise the onsite 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 present a mobile extruder robot called YouWasp. We also begin to explore methods for collision aware printing and construction task decomposition and allocation. These are deployed via YouWasp and enable it to deposit material autonomously. In doing so, we are able to evaluate the potential for parallelization of tasks and printing autonomy in simulation as well as physical team of robots. Altogether, these results provide a foundation for future work that enable fleets of mobile construction systems to cooperate and help us shape our built environment in new ways.

Printingwhilemoving: a new paradigm for largescale robotic 3D Printing Building and Construction have recently become an exciting application ground for robotics. In particular, rapid progress in material formulation and in robotics technology has made robotic 3D Printing of concrete a promising technique for insitu construction. Yet, scalability remains an important hurdle to widespread adoption: the printing systems (gantrybased or armbased) are often much larger than the structure to be printed, hence cumbersome. Recently, a mobile printing systemxe2x80x93a manipulator mounted on a mobile base xe2x80x93 was proposed to alleviate this issue: such a system, by moving its base, can potentially print a structure larger than itself. However, the proposed system could only print while being stationary, imposing thereby a limit on the size of structures that can be printed in a single take. Here, we develop a system that implements the printingwhilemoving paradigm, which enables printing singlepiece structures of arbitrary sizes with a single robot. This development requires solving motion planning, localization, and motion control problems that are specific to mobile 3D Printing. We report our framework to address those problems, and demonstrate, for the first time, a printingwhilemoving experiment, wherein a 210 cm xc3x97 45 cm xc3x97 10 cm concrete structure is printed by a robot arm that has a reach of 87 cm.