{"paper":{"title":"Mobile Robotic Fabrication at 1:1 scale: the In situ Fabricator","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Fabio Gramazio, Gonzalo Rey, Ian Brooks, Jonas Buchli, Kathrin D\\\"orfler, Mark Buckingham, Markus Giftthaler, Matthias Kohler, Timothy Sandy","submitted_at":"2017-01-13T07:04:23Z","abstract_excerpt":"This paper presents the concept of an In situ Fabricator, a mobile robot intended for on-site manufacturing, assembly and digital fabrication. We present an overview of a prototype system, its capabilities, and highlight the importance of high-performance control, estimation and planning algorithms for achieving desired construction goals. Next, we detail on two architectural application scenarios: first, building a full-size undulating brick wall, which required a number of repositioning and autonomous localisation manoeuvres. Second, the Mesh Mould concrete process, which shows that an In si"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1701.03573","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}