Bot+Bot: Multi-Robot Collaboration in Architecture

Thesis (Master's)--University of Washington, 2019The use of robots in architecture and construction has gained importance in the last few years. They offer the possibility to change the way we build, expand the design ideas and possibilities, and add more automation on construction sites with the goal of enhancing the productivity. This work looks at robotic fabrication, and more particularly the use of multi-robot systems in architecture. A first look at the definition of robots and robotic systems as being an “assemblage” helps understand the characteristics needed for robotic systems in architecture. A classification of the types of coordination and communication according to the existing literature is then introduced. From existing fabrication projects, aspects and challenges of multi-robot fabrication are discussed. These include coordination, planning, communication and precision. Afterwards, a series of prototypes using an industrial robot arm and an educational mobile robot serve to illustrate some of the challenges. The combination of these two robots, with their different types and specificities, also demonstrates the flexibility of robotic systems and their possibilities. The work is concluded by a discussion on the integration of robotic fabrication in the design process