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Integrative Computational Design and Construction for Architecture (T3.0)
Research
Research Projects
RP 19-1 – Robotic Kinematic System for Parallel Construction

Robotic Kinematic System for Parallel Construction

Research Project 19-1 (RP 19-1)

LEVERAGING THE BUILDING MATERIAL AS PART OF THE ROBOTIC KINEMATIC SYSTEM FOR PARALLEL CONSTRUCTION

Current applications of robotics in the construction industry focus primarily on the automation of conventional and, at best, slightly modified construction processes. In contrast to this automation approach, this project explores methods for Co-Design and development of a complementary robotic and architectural system, where the manipulator and the building material are co-designed. A system will be developed that combines actuator hardware and building material into a modular robot-material kinematic chain that can be reconfigured throughout the construction process. Deploying a fleet of such modules has the potential not only to extend existing automation in construction practices, but also to further increase the flexibility of on-site construction robots. In order to realise this vision, the research will address several related challenges arising from this novel approach, which inherently requires Co-Design strategies for robot hardware design, building system design, robot control system design, and the computational design software tool.

PRINCIPAL INVESTIGATORS

Prof. Dr. Metin Sitti
Physical Intelligence Department (MPI-IS, PI), Max Planck Institute for Intelligent Systems
Prof. Achim Menges
Institute for Computational Design and Construction (ICD), University of Stuttgart
Prof. Dr. rer. nat. Marc Toussaint
Machine Learning and Robotics Lab (IPVS-MLR), University of Stuttgart

RESEARCHERS

Dr.-Ing. Salih Özgür Ögüz (IPVS-MLR)
Dr.-Ing. Tobias Schwinn (ICD)
Hyun Gyu Kim (MPI-IS, PI)
Samuel Leder (ICD)

PEER-REVIEWED PUBLICATIONS

2024
1. Johnson, M., Kragl, P., Tucker, M., Leder, S., Kalousdian, N. K., & Menges, A. (2024). Differential Boundary Deposition: Towards Collective Robotic Construction with Amorphous Materials. Robotic Fabrication in Architecture, Art and Design 2024.
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  @inproceedings{johnson2024differential, author = {Johnson, Matthew and Kragl, Philipp and Tucker, Michael and Leder, Samuel and Kalousdian, Nicolas Kubail and Menges, Achim}, booktitle = {Robotic Fabrication in Architecture, Art and Design 2024}, publisher = {Springer International Publishing}, title = {Differential Boundary Deposition: Towards Collective Robotic Construction with Amorphous Materials}, year = 2024 }
2. Leder, S., Kannenberg, F., Siriwardena, L., Schwinn, T., & Menges, A. (2024). Approaching the Augmentation of Heuristic Behaviors with Reinforcement Learning in Collective Robotic Construction. SIGraDi 2024 - Biodigital Intelligent Systems XXVIII International Conference of the Ibero-American Society for Digital Graphics, 1. https://sigradi.org/sigradi2024/
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  @inproceedings{Leder2024_CRC_ABxM_RL, author = {Leder, Samuel and Kannenberg, Fabian and Siriwardena, Lasath and Schwinn, Tobias and Menges, Achim}, booktitle = {SIGraDi 2024 - Biodigital Intelligent Systems XXVIII International Conference of the Ibero-American Society for Digital Graphics}, isbn = {978-9915-9635-2-5}, title = {Approaching the Augmentation of Heuristic Behaviors with Reinforcement Learning in Collective Robotic Construction}, url = {https://sigradi.org/sigradi2024/}, venue = {Universitat Internacional de Catalunya (UIC) lmmaculada, 22, 08017-Barcelona, Spain}, volume = 1, year = 2024 }
3. Leder, S., Kim, H., Sitti, M., & Menges, A. (2024). Enhanced co-design and evaluation of a collective robotic construction system for the assembly of large-scale in-plane timber structures. Automation in Construction, 162, 105390. https://doi.org/10.1016/j.autcon.2024.105390
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  @article{LEDER2024105390, abstract = {Collective robotic construction (CRC) is an emerging approach to construction automation based on the collaboration among teams of small mobile robots. This paper enhances an existing modular CRC system, showcasing its capability to assemble full-scale in-plane timber structures. Utilizing strategies of co-design, the robotic actuators were updated to accommodate material tolerance in the passive building material, timber struts, which they use for locomotion and assemble into structures. A custom effector was also developed to establish architecturally relevant, structural connections between struts. The enhancements address two major challenges in CRC system development: material tolerance and connections. To showcase these research findings and compare with other construction automation systems, a reinforced slab structure was assembled. With a building envelop of 0.485 m3, this is one of the largest structures assembled by a CRC system. As such, the work highlights the potential applicability of CRC in real-world architectural projects.}, author = {Leder, Samuel and Kim, HyunGyu and Sitti, Metin and Menges, Achim}, doi = {10.1016/j.autcon.2024.105390}, issn = {0926-5805}, journal = {Automation in Construction}, pages = 105390, title = {Enhanced co-design and evaluation of a collective robotic construction system for the assembly of large-scale in-plane timber structures}, url = {https://www.sciencedirect.com/science/article/pii/S0926580524001262}, volume = 162, year = 2024 }
4. Leder, S., & Menges, A. (2024). Merging architectural design and robotic planning using interactive agent-based modelling for collective robotic construction. Journal of Computational Design and Engineering, 11, Article 2. https://doi.org/10.1093/jcde/qwae028
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  @article{10.1093/jcde/qwae028, abstract = {Most research on collective robotic construction (CRC) separates the architectural design and robotic path planning phases of the overall construction process. Specifically, a structure is designed and afterwards sent to a planner or compiler that returns instructions for the assembly of the structure with the robots at hand. Although this has led to the assembly of spatially complex structures, it obscures the planning process, making it inaccessible to the architect. Considering that one potential of CRC is that the architect can perform as more than a designer of static structures, this paper showcases how agent-based modelling can collapse the architectural design and robotic planning phases for CRC. As such the overall construction workflow is upended, leading to more designer control, adjustment for tolerances in the construction process, a more general understanding of the processes, and the potential for architectural reconfiguration when working with CRC systems. This is demonstrated through the presentation of an agent-based model for assembling a planar structure using a previously developed CRC system.}, author = {Leder, Samuel and Menges, Achim}, doi = {10.1093/jcde/qwae028}, eprint = {https://academic.oup.com/jcde/article-pdf/11/2/253/57228098/qwae028.pdf}, issn = {2288-5048}, journal = {Journal of Computational Design and Engineering}, month = {03}, number = 2, pages = {253-268}, title = {Merging architectural design and robotic planning using interactive agent-based modelling for collective robotic construction}, url = {https://doi.org/10.1093/jcde/qwae028}, volume = 11, year = 2024 }
5. Leder, S., Siriwardena, L., Kragl, P., & Menges, A. (2024). Cyber-Physical Explorations of Collective Robotic Construction using Agent-Based Modelling. Robotic Fabrication in Architecture, Art and Design 2024.
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  @inproceedings{leder2024cyberphysical, author = {Leder, Samuel and Siriwardena, Lasath and Kragl, Philipp and Menges, Achim}, booktitle = {Robotic Fabrication in Architecture, Art and Design 2024}, publisher = {Springer International Publishing}, title = {Cyber-Physical Explorations of Collective Robotic Construction using Agent-Based Modelling}, year = 2024 }
6. Zhang, P., Sevim, S., Leder, S., Maierhofer, M., Schwinn, T., & Menges, A. (2024). Multi-Robotic Maypole Braiding. In O. Kontovourkis, M. C. Phocas, & G. Wurzer (Eds.), Data-Driven Intelligence - Proceedings of the 42nd Conference on Education and Research in Computer Aided Architectural Design in Europe (eCAADe 2024) (Vol. 1, pp. 137–146). eCAADe.
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  @inproceedings{Zhang2024, author = {Zhang, Pengfei and Sevim, Selin and Leder, Samuel and Maierhofer, Mathias and Schwinn, Tobias and Menges, Achim}, booktitle = {Data-Driven Intelligence - Proceedings of the 42nd Conference on Education and Research in Computer Aided Architectural Design in Europe (eCAADe 2024)}, editor = {Kontovourkis, O. and Phocas, M.C. and Wurzer, G.}, eventdate = {2020-09-11/2020-09-13}, eventtitle = {2nd Conference on Education and Research in Computer Aided Architectural Design in Europe (eCAADe 2024)}, pages = {137–146}, publisher = {eCAADe}, title = {Multi-Robotic Maypole Braiding}, volume = 1, year = 2024 }
2023
1. Leder, S., & Menges, A. (2023). Introducing Agent-Based Modeling Methods for Designing Architectural Structures with Multiple Mobile Robotic Systems. In C. Gengnagel, O. Baverel, G. Betti, M. Popescu, M. R. Thomsen, & J. Wurm (Eds.), Towards Radical Regeneration (pp. 71–83). Springer International Publishing.
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  @inproceedings{10.1007/978-3-031-13249-0_7, abstract = {As technology for multiple robotic systems (MRS) is becoming more and more robust, such systems are beginning to be introduced for various applications, such as within the Architecture, Engineering, and Construction (AEC) industry. Introducing MRS to construction requires a radical change to the current practices in the AEC industry as there currently exists little to no precedents for small, agile machines working on construction sites. Beyond the physical hardware, sensing communication and coordination strategies necessary to deploy MRS, the methods for designing structures assembled by MRS must be considered as they can influence what is possible with the novelties inherent to construction with such systems. In order to approach the question of design, this paper aims to break away from current standards of top-down design methods by introducing two agent-based modeling and simulation (ABMS) approaches for designing structures to be assembled with MRS that consider geometric and fabrication constraints in the process of design. Each approach is outlined at a conceptual level, further explained using an existing MRS at the operational level, and then analyzed based on its general workflow, interactivity, and adaptability. By providing the various approaches, we aim to understand how, not only the MRS themselves but, the method for designing structures with such systems can help to achieve the goal of inexpensive, adaptive, and sustainable construction promised by the application of MRS in the AEC industry.}, address = {Cham}, author = {Leder, Samuel and Menges, Achim}, booktitle = {Towards Radical Regeneration}, editor = {Gengnagel, Christoph and Baverel, Olivier and Betti, Giovanni and Popescu, Mariana and Thomsen, Mette Ramsgaard and Wurm, Jan}, isbn = {978-3-031-13249-0}, pages = {71--83}, publisher = {Springer International Publishing}, title = {Introducing Agent-Based Modeling Methods for Designing Architectural Structures with Multiple Mobile Robotic Systems}, year = 2023 }
2. Leder, S., & Menges, A. (2023). Architectural design in collective robotic construction. Automation in Construction, 156, 105082. https://doi.org/10.1016/j.autcon.2023.105082
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  @article{Leder_2023, author = {Leder, Samuel and Menges, Achim}, doi = {10.1016/j.autcon.2023.105082}, journal = {Automation in Construction}, month = {12}, pages = 105082, publisher = {Elsevier {BV}}, title = {Architectural design in collective robotic construction}, url = {https://doi.org/10.1016%2Fj.autcon.2023.105082}, volume = 156, year = 2023 }
2022
1. Leder, S., Kim, H., Oguz, O. S., Kalousdian, N. K., Hartmann, V. N., Menges, A., Toussaint, M., & Sitti, M. (2022). Leveraging Building Material as Part of the In-Plane Robotic Kinematic System for Collective Construction. Advanced Science, 2201524. https://doi.org/10.1002/advs.202201524
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  @article{Leder_2022, author = {Leder, Samuel and Kim, HyunGyu and Oguz, Ozgur Salih and Kalousdian, Nicolas Kubail and Hartmann, Valentin Noah and Menges, Achim and Toussaint, Marc and Sitti, Metin}, doi = {10.1002/advs.202201524}, journal = {Advanced Science}, month = {06}, pages = 2201524, publisher = {Wiley}, title = {Leveraging Building Material as Part of the In-Plane Robotic Kinematic System for Collective Construction}, url = {https://doi.org/10.1002%2Fadvs.202201524}, year = 2022 }
2. Menges, A., & Wortmann, T. (2022). Synthesising Artificial Intelligence and Physical Performance. Architectural Design, 92, Article 3. https://doi.org/10.1002/ad.2819
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  @article{menges2022synthesising, author = {Menges, Achim and Wortmann, Thomas}, doi = {https://doi.org/10.1002/ad.2819}, journal = {Architectural Design}, number = 3, pages = {94-99}, title = {Synthesising Artificial Intelligence and Physical Performance}, volume = 92, year = 2022 }
2021
1. Schubert, I., Driess, D., Oguz, O. S., & Toussaint, M. (2021). Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics. NeurIPS 2021 - Neural Information Processing Systems 34.
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  @inproceedings{21-schubert-NeurIPS, arxiv = {2111.07908}, author = {Schubert, Ingmar and Driess, Danny and Oguz, Ozgur S. and Toussaint, Marc}, booktitle = {NeurIPS 2021 - Neural Information Processing Systems 34}, title = {Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics}, year = 2021 }
2. Toussaint, M., Ha, J.-S., & Oguz, O. S. (2021). Co-Optimizing Robot, Environment, and Tool Design via Joint Manipulation Planning. 2021 IEEE International Conference on Robotics and Automation (ICRA), 6600–6606. https://doi.org/10.1109/ICRA48506.2021.9561256
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  @inproceedings{9561256, author = {Toussaint, Marc and Ha, Jung-Su and Oguz, Ozgur S.}, booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)}, doi = {10.1109/ICRA48506.2021.9561256}, pages = {6600-6606}, title = {Co-Optimizing Robot, Environment, and Tool Design via Joint Manipulation Planning}, year = 2021 }
3. Łochnicki, G., Kubail Kalousdian, N., Leder, S., Maierhofer, M., Wood, D., & Menges, A. (2021). Co-Designing Material-Robot Construction Behaviors: Teaching distributed robotic systems to leverage active bending for light-touch assembly of bamboo bundle structures. In B. Farahi, B. Bogosian, J. Scott, J. L. García del Castillo y López, K. Dörfler, J. A. Grant, S. Parascho, & V. A. A. Noel (Eds.), Realignments: Toward Critical Computation - ACADIA 2021.
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  @inproceedings{kubailkalousdian2021codesigning, abstract = {This paper presents research on designing distributed, robotic construction systems in which robots are taught construction behaviors relative to the elastic bending of natural building materials. Using this behavioral relationship as a driver, the robotic system is developed to deal with the unpredictability of natural materials in construction and further to engage their dynamic characteristics as methods of locomotion and manipulation during the assembly of actively bent structures. Such an approach has the potential to unlock robotic building practice with rapid-renewable materials, whose short crop cycles and small carbon footprints make them particularly important inroads to sustainable construction. The research is conducted through an initial case study in which a mobile robot learns a control policy for elastically bending bamboo bundles into designed configurations using deep reinforcement learning algorithms. This policy is utilized in the process of designing relevant structures, and for the in-situ assembly of these designs. These concepts are further investigated through the co-design and physical prototyping of a mobile robot and the construction of bundled bamboo structures. This research demonstrates a shift from an approach of absolute control and predictability to behavior-based methods of assembly. With this, materials and processes that are often considered too labor-intensive or unpredictable can be reintroduced. This reintroduction leads to new insights in architectural design and construction, where design outcome is uniquely tied to the building material and its assembly logic. This highly material-driven approach sets the stage for developing an effective, sustainable, light-touch method of building using natural materials. }, author = {Łochnicki, Grzegorz and Kubail Kalousdian, Nicolas and Leder, Samuel and Maierhofer, Mathias and Wood, Dylan and Menges, Achim}, booktitle = {Realignments: Toward Critical Computation - ACADIA 2021}, editor = {Farahi, Behnaz and Bogosian, Biayna and Scott, Jane and García del Castillo y López, Jose Luis and Dörfler, Kathrin and Grant, June A. and Parascho, Stefana and Noel, Vernelle A. A.}, eventdate = {November 3rd - 6th}, eventtitle = {Realignments: Toward Critical Computation}, title = {Co-Designing Material-Robot Construction Behaviors: Teaching distributed robotic systems to leverage active bending for light-touch assembly of bamboo bundle structures}, venue = {online}, year = 2021 }
2020
1. Hartmann, V. N., Oguz, O. S., Driess, D., Toussaint, M., & Menges, A. (2020). Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning. Proc. Of the IEEE Int. Conf. On Intelligent Robots and Systems (IROS).
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  @inproceedings{hartmann2020robust, author = {Hartmann, Valentin N. and Oguz, Ozgur S. and Driess, Danny and Toussaint, Marc and Menges, Achim}, booktitle = {Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS)}, eprint = {2003.07754}, title = {Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning}, year = 2020 }
2. Leder, S., Kim, H., Oguz, O. S., Hartmann, V., Toussaint, M., Menges, A., & Sitti, M. (2020). Co-Design in Architecture: A Modular Material-Robot Kinematic Construction System. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Proceedings of Workshop on Construction and Architecture Robotics.
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  @inproceedings{Leder2020a, author = {Leder, S. and Kim, H and Oguz, O. S. and Hartmann, V. and Toussaint, M. and Menges, A. and Sitti, M.}, booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) [Proceedings of Workshop on Construction and Architecture Robotics]}, title = {Co-Design in Architecture: A Modular Material-Robot Kinematic Construction System}, venue = {Las Vegas, NV, USA}, year = 2020 }
3. Leder, S., Weber, R., Vasey, L., Yablonina, M., & Menges, A. (2020). Voxelcrete: Distributed Voxelized Adaptive Formwork. eCAADe Online 2020 – Architecture and Fabrication in the Cognitive Age Proceedings of the 38th eCAADe Conference 2020. https://papers.cumincad.org/data/works/att/caadria2022_435.pdf
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  @inproceedings{leder2020voxelcrete, author = {Leder, Samuel and Weber, Ramon and Vasey, Lauren and Yablonina, Maria and Menges, Achim}, booktitle = {eCAADe Online 2020 – Architecture and Fabrication in the Cognitive Age [Proceedings of the 38th eCAADe Conference 2020]}, organization = {eCAADe}, title = {Voxelcrete: Distributed Voxelized Adaptive Formwork}, url = {https://papers.cumincad.org/data/works/att/caadria2022_435.pdf}, venue = {Berlin, Germany}, year = 2020 }
4. Melenbrink, N., Werfel, J., & Menges, A. (2020). On-site autonomous construction robots: Towards unsupervised building. Automation in Construction, 119, 103312. https://doi.org/10.1016/j.autcon.2020.103312
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  @article{melenbrink_-site_2020, author = {Melenbrink, Nathan and Werfel, Justin and Menges, Achim}, doi = {10.1016/j.autcon.2020.103312}, issn = {09265805}, journal = {Automation in Construction}, language = {en}, pages = 103312, shorttitle = {On-site autonomous construction robots}, title = {On-site autonomous construction robots: {Towards} unsupervised building}, url = {https://linkinghub.elsevier.com/retrieve/pii/S0926580520301746}, urldate = {2020-07-07}, volume = 119, year = 2020 }
5. Nguyen, S. T., Oguz, O. S., Hartmann, V. N., & Toussaint, M. (2020). Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation Planning. Proc. Of the Annual Conf. On Robot Learning (CORL).
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  @inproceedings{20-nguyen-CORL, author = {Nguyen, Son T. and Oguz, Ozgur S. and Hartmann, Valentin N. and Toussaint, Marc}, booktitle = {Proc{.} of the Annual Conf{.} on Robot Learning (CORL)}, publisher = {{PMLR}}, series = {Proceedings of Machine Learning Research}, title = {Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation Planning}, year = 2020, youtube = {ZruIQ9V0_oo} }
2019
1. Leder, S., Weber, R., Bucklin, O., Wood, D., & Menges, A. (2019). Design and prototyping of a single axis, building material integrated, distributed robotic assembly system. 2019 IEEE: 4th International Workshops on Foundations and Applications of Self* Systems (FAS*), 3rd International Workshop on Self-Organised Construction (SOCO).
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  @article{leder_design_2019, author = {Leder, Samuel and Weber, Ramon and Bucklin, Oliver and Wood, Dylan and Menges, Achim}, journal = {2019 IEEE: 4th International Workshops on Foundations and Applications of Self* Systems (FAS*), 3rd International Workshop on Self-Organised Construction (SOCO)}, title = {Design and prototyping of a single axis, building material integrated, distributed robotic assembly system}, year = 2019 }
2. Leder, S., Weber, R., Wood, D., Bucklin, O., & Menges, A. (2019). Distributed Robotic Timber Construction: Designing of in-situ timber construction system with robot-material collaboration. ACADIA – Ubiquity and Autonomy Proceedings of the ACADIA Conference 2019.
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  @article{leder_distributed_2019, author = {Leder, Samuel and Weber, Ramon and Wood, Dylan and Bucklin, Oliver and Menges, Achim}, journal = {ACADIA – Ubiquity and Autonomy [Proceedings of the ACADIA Conference 2019]}, title = {Distributed {Robotic} {Timber} {Construction}: {Designing} of in-situ timber construction system with robot-material collaboration}, year = 2019 }
3. Yablonina, M., & Menges, A. (2019). Distributed Fabrication: Cooperative Making with Larger Groups of Smaller Machines. Architectural Design, 89, Article 2. https://doi.org/10.1002/ad.2413
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  @article{yablonina_distributed_2019, author = {Yablonina, Maria and Menges, Achim}, doi = {10.1002/ad.2413}, journal = {Architectural Design}, number = 2, pages = {62--69}, title = {Distributed {Fabrication}: {Cooperative} {Making} with {Larger} {Groups} of {Smaller} {Machines}}, volume = 89, year = 2019 }

OTHER PUBLICATIONS

2025
1. Leder, S., Kubail Kalousdian, N., & Menges, A. (2025). Digital Twin for a Modular Collective Robotic Construction System [DaRUS]. https://doi.org/10.18419/DARUS-4761
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  @dataset{DARUS-4761_2025, abstract = { This dataset contains the digital twin developed for a Collective Robotic Construction (CRC) system, as published in Advanced Science (Leder, S., Kim, H., Oguz, O.S., Kalousdian, N.K., Hartmann, V.N., Menges, A., Toussaint, M., Sitti, M.: 2022, Leveraging Building Material as Part of the In-Plane Robotic Kinematic System for Collective Construction. Advanced Science, 2201524. DOI: 10.1002/advs.202201524). In this version, the digital twin allows robotic plans in .JSON format to be loaded (Load Plan), and either simulated without the physical CRC system or executed in real time. In both modes, plans can be played through continuously or stepped through action by action. During simulation, users can control the playback speed (Speed), allowing the simulation to run faster than real-world robot operation. In real-time execution mode (Actuate Real Motors), communication with the robots occurs via serial communication over Bluetooth. The construction process is monitored using an external motion capture system. Implementations for both Vicon and OptiTrack are included in the digital twin. Data captured from the motion tracking system can be used for position correction (Position Correction) at each step of the robotic plan, if desired. Additionally, the robots in the CRC system can be manually controlled. Within the interface, users can rotate the main axis of each robot, open and close the top and bottom grippers, and control the tongue within the gripper. These controls are available for each deployed robot and are accompanied by visualizations of both the real-time robot positions and their expected positions based on the robotic plans. The digital twin relies on external code based for some functionalities. Included in the dataset is a therefore README, which provides setup instructions, dependency guidelines, and licensing information.}, author = {Leder, Samuel and Kubail Kalousdian, Nicolas and Menges, Achim}, doi = {10.18419/DARUS-4761}, publisher = {DaRUS}, title = {Digital Twin for a Modular Collective Robotic Construction System}, url = {https://doi.org/10.18419/DARUS-4761}, version = {V1}, year = 2025 }
2. Leder, S., & Menges, A. (2025). Robotic Plans for the Assembly of A Large-Scale In-Plane Timber Prototype with a Collective Robotic Construction System [DaRUS]. https://doi.org/10.18419/DARUS-4758
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  @dataset{DARUS-4758_2025, author = {Leder, Samuel and Menges, Achim}, doi = {10.18419/DARUS-4758}, publisher = {DaRUS}, title = {{Robotic Plans for the Assembly of A Large-Scale In-Plane Timber Prototype with a Collective Robotic Construction System}}, url = {https://doi.org/10.18419/DARUS-4758}, version = {V1}, year = 2025 }
3. Leder, S., & Menges, A. (2025). Collective Robotic Construction (CRC) Research Projects organized by Architectural Design Approach. https://doi.org/10.18419/darus-4731
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  @dataset{leder2025collective, abstract = {This dataset contains the results of a database search to obtain research articles related to collective robotic construction (CRC). The database search criteria can be found in the related publication: Leder, S., Menges, A.: 2023, Architectural design in collective robotic construction. Automation in Construction, Vol. 156, p. 105082. (DOI: 10.1016/j.autcon.2023.105082). The found research articles are sorted by their relevance to the research topic of CRC and then if applicable, are categorized by the three dimension discussed in the paper, (1) design description, (2) goal specification, and (3) execution. The question that define the categorizaton at each dimension are as follows: Is the architectural design known before construction? How is architectural design communicated to the robots? When is the robotic planning of the architectural design executed? }, affiliation = {Leder, Samuel/University of Stuttgart, Menges, Achim/University of Stuttgart}, author = {Leder, Samuel and Menges, Achim}, doi = {10.18419/darus-4731}, howpublished = {Dataset}, note = {Related to: Leder, S., Menges, A.: 2023, Architectural design in collective robotic construction. Automation in Construction, Vol. 156, p. 105082. doi: 10.1016/j.autcon.2023.105082}, orcid-numbers = {Leder, Samuel/0000-0003-3533-3633, Menges, Achim/0000-0001-9055-4039}, title = {Collective Robotic Construction (CRC) Research Projects organized by Architectural Design Approach}, year = 2025 }
4. Leder, S., & Menges, A. (2025). ABxM.DistributedRobotics.RP19: Agent-Based Models for a Modular Collective Robotic Construction System [DaRUS]. https://doi.org/10.18419/DARUS-4760
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  @dataset{DARUS-4760_2025, author = {Leder, Samuel and Menges, Achim}, doi = {10.18419/DARUS-4760}, publisher = {DaRUS}, title = {ABxM.DistributedRobotics.RP19: Agent-Based Models for a Modular Collective Robotic Construction System}, url = {https://doi.org/10.18419/DARUS-4760}, version = {V2}, year = 2025 }
2024
1. Leder, S., Kragl, P., & Menges, A. (2024). Roaming Autonomous Distributed robot (RADr) [DaRUS]. https://doi.org/10.18419/darus-4059
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  @dataset{darus-4059_2024, author = {Leder, Samuel and Kragl, Philipp and Menges, Achim}, doi = {10.18419/darus-4059}, publisher = {DaRUS}, title = {Roaming Autonomous Distributed robot (RADr)}, url = {https://doi.org/10.18419/darus-4059}, version = {V1}, year = 2024 }
2. Leder, S., Siriwardena, L., & Menges, A. (2024). ABxM.DistributedRobotics.RADr: Agent-based Design and Control of multiple Roaming Autonomous Distributed robots (RADr) [DaRUS]. https://doi.org/10.18419/darus-4058
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  BibTeX
  @dataset{darus-4058_2024, author = {Leder, Samuel and Siriwardena, Lasath and Menges, Achim}, doi = {10.18419/darus-4058}, publisher = {DaRUS}, title = {ABxM.DistributedRobotics.RADr: Agent-based Design and Control of multiple Roaming Autonomous Distributed robots (RADr)}, url = {https://doi.org/10.18419/darus-4058}, version = {V1}, year = 2024 }
2023
1. Hartmann, V. N., Ortiz-Haro, J., & Toussaint, M. (2023). Efficient Path Planning In Manipulation Planning Problems by Actively Reusing Validation Effort. Proc. Of the Int. Conf. On Intelligent Robots and Systems (IROS). https://doi.org/10.48550/arXiv.2303.00637
  - BibTeX
  BibTeX
  @inproceedings{23-hartmann-IROS, arxiv_pdf = {2303.00637}, author = {Hartmann, Valentin N. and Ortiz-Haro, Joaquim and Toussaint, Marc}, booktitle = {Proc{.} of the Int{.} Conf{.} on Intelligent Robots and Systems (IROS)}, doi = {10.48550/arXiv.2303.00637}, title = {Efficient Path Planning In Manipulation Planning Problems by Actively Reusing Validation Effort}, url = {https://arxiv.org/abs/2303.00637}, year = 2023 }
2022
1. Nguyen, L., Schwinn, T., Groenewolt, A., Maierhofer, M., Zorn, M. B., Stieler, D., Siriwardena, L., Kannenberg, F., & Menges, A. (2022). ABxM.Core: The Core Libraries of the ABxM Framework. https://doi.org/10.18419/darus-2994
  - BibTeX
  BibTeX
  @dataset{nguyen2022abxmcore, abstract = {The ABxM.Core consists of the agent core library ABxM.Core and an interoperability library for Rhino 6 and later versions. ABxM.Core implements the functionality specific to agent-based modelling and simulation. The core library can, in principle, be referenced from any application that is compatible with McNeel’s Rhino.Inside technology.ABxM.Core defines four base classes for behaviors, agents, agent systems, and environments, and the Solver class. In addition to the base classes, the core library provides implementations for Vector-based systems called “Boid” (in reference to Craig Reynolds’ Boids), point-based systems called “Cartesian”, matrix-based systems (2d and 3d), mesh systems, and network systems. The necessary agent, system, environment, and behavior classes are derived from the corresponding base classes.Instructions for the use of the source code are included in the file "ABxM.Core-Further_instructions.pdf".}, affiliation = {Nguyen, Long/University of Stuttgart, Schwinn, Tobias/University of Stuttgart, Groenewolt, Abel/University of Stuttgart, Maierhofer, Mathias/University of Stuttgart, Zorn, Max Benjamin/University of Stuttgart, Stieler, David/University of Stuttgart, Siriwardena, Lasath/University of Stuttgart, Kannenberg, Fabian/University of Stuttgart, Menges, Achim/University of Stuttgart}, author = {Nguyen, Long and Schwinn, Tobias and Groenewolt, Abel and Maierhofer, Mathias and Zorn, Max Benjamin and Stieler, David and Siriwardena, Lasath and Kannenberg, Fabian and Menges, Achim}, doi = {10.18419/darus-2994}, howpublished = {Software}, note = {Related to: Groenewolt, A., Schwinn, T., Nguyen, L., & Menges, A. (2018). An interactive agent-based framework for materialization-informed architectural design. Swarm Intelligence, 12(2), 155-186. doi: 10.1007/s11721-017-0151-8}, orcid-numbers = {Schwinn, Tobias/0000-0003-4974-9808, Groenewolt, Abel/0000-0002-0914-6474, Maierhofer, Mathias/0000-0002-0773-7107, Zorn, Max Benjamin/0000-0003-0109-1963, Stieler, David/0000-0002-3854-0016, Siriwardena, Lasath/0000-0001-9100-1321, Kannenberg, Fabian/0000-0003-0316-1769, Menges, Achim/0000-0001-9055-4039}, title = {ABxM.Core: The Core Libraries of the ABxM Framework}, year = 2022 }

DATA SETS

2025
1. Leder, S., Kubail Kalousdian, N., & Menges, A. (2025). Digital Twin for a Modular Collective Robotic Construction System [DaRUS]. https://doi.org/10.18419/DARUS-4761
  - BibTeX
  BibTeX
  @dataset{DARUS-4761_2025, abstract = { This dataset contains the digital twin developed for a Collective Robotic Construction (CRC) system, as published in Advanced Science (Leder, S., Kim, H., Oguz, O.S., Kalousdian, N.K., Hartmann, V.N., Menges, A., Toussaint, M., Sitti, M.: 2022, Leveraging Building Material as Part of the In-Plane Robotic Kinematic System for Collective Construction. Advanced Science, 2201524. DOI: 10.1002/advs.202201524). In this version, the digital twin allows robotic plans in .JSON format to be loaded (Load Plan), and either simulated without the physical CRC system or executed in real time. In both modes, plans can be played through continuously or stepped through action by action. During simulation, users can control the playback speed (Speed), allowing the simulation to run faster than real-world robot operation. In real-time execution mode (Actuate Real Motors), communication with the robots occurs via serial communication over Bluetooth. The construction process is monitored using an external motion capture system. Implementations for both Vicon and OptiTrack are included in the digital twin. Data captured from the motion tracking system can be used for position correction (Position Correction) at each step of the robotic plan, if desired. Additionally, the robots in the CRC system can be manually controlled. Within the interface, users can rotate the main axis of each robot, open and close the top and bottom grippers, and control the tongue within the gripper. These controls are available for each deployed robot and are accompanied by visualizations of both the real-time robot positions and their expected positions based on the robotic plans. The digital twin relies on external code based for some functionalities. Included in the dataset is a therefore README, which provides setup instructions, dependency guidelines, and licensing information.}, author = {Leder, Samuel and Kubail Kalousdian, Nicolas and Menges, Achim}, doi = {10.18419/DARUS-4761}, publisher = {DaRUS}, title = {Digital Twin for a Modular Collective Robotic Construction System}, url = {https://doi.org/10.18419/DARUS-4761}, version = {V1}, year = 2025 }
2. Leder, S., & Menges, A. (2025). Robotic Plans for the Assembly of A Large-Scale In-Plane Timber Prototype with a Collective Robotic Construction System [DaRUS]. https://doi.org/10.18419/DARUS-4758
  - BibTeX
  BibTeX
  @dataset{DARUS-4758_2025, author = {Leder, Samuel and Menges, Achim}, doi = {10.18419/DARUS-4758}, publisher = {DaRUS}, title = {{Robotic Plans for the Assembly of A Large-Scale In-Plane Timber Prototype with a Collective Robotic Construction System}}, url = {https://doi.org/10.18419/DARUS-4758}, version = {V1}, year = 2025 }
3. Leder, S., & Menges, A. (2025). Collective Robotic Construction (CRC) Research Projects organized by Architectural Design Approach. https://doi.org/10.18419/darus-4731
  - BibTeX
  BibTeX
  @dataset{leder2025collective, abstract = {This dataset contains the results of a database search to obtain research articles related to collective robotic construction (CRC). The database search criteria can be found in the related publication: Leder, S., Menges, A.: 2023, Architectural design in collective robotic construction. Automation in Construction, Vol. 156, p. 105082. (DOI: 10.1016/j.autcon.2023.105082). The found research articles are sorted by their relevance to the research topic of CRC and then if applicable, are categorized by the three dimension discussed in the paper, (1) design description, (2) goal specification, and (3) execution. The question that define the categorizaton at each dimension are as follows: Is the architectural design known before construction? How is architectural design communicated to the robots? When is the robotic planning of the architectural design executed? }, affiliation = {Leder, Samuel/University of Stuttgart, Menges, Achim/University of Stuttgart}, author = {Leder, Samuel and Menges, Achim}, doi = {10.18419/darus-4731}, howpublished = {Dataset}, note = {Related to: Leder, S., Menges, A.: 2023, Architectural design in collective robotic construction. Automation in Construction, Vol. 156, p. 105082. doi: 10.1016/j.autcon.2023.105082}, orcid-numbers = {Leder, Samuel/0000-0003-3533-3633, Menges, Achim/0000-0001-9055-4039}, title = {Collective Robotic Construction (CRC) Research Projects organized by Architectural Design Approach}, year = 2025 }
4. Leder, S., & Menges, A. (2025). ABxM.DistributedRobotics.RP19: Agent-Based Models for a Modular Collective Robotic Construction System [DaRUS]. https://doi.org/10.18419/DARUS-4760
  - BibTeX
  BibTeX
  @dataset{DARUS-4760_2025, author = {Leder, Samuel and Menges, Achim}, doi = {10.18419/DARUS-4760}, publisher = {DaRUS}, title = {ABxM.DistributedRobotics.RP19: Agent-Based Models for a Modular Collective Robotic Construction System}, url = {https://doi.org/10.18419/DARUS-4760}, version = {V2}, year = 2025 }
2024
1. Leder, S., Kragl, P., & Menges, A. (2024). Roaming Autonomous Distributed robot (RADr) [DaRUS]. https://doi.org/10.18419/darus-4059
  - BibTeX
  BibTeX
  @dataset{darus-4059_2024, author = {Leder, Samuel and Kragl, Philipp and Menges, Achim}, doi = {10.18419/darus-4059}, publisher = {DaRUS}, title = {Roaming Autonomous Distributed robot (RADr)}, url = {https://doi.org/10.18419/darus-4059}, version = {V1}, year = 2024 }
2. Leder, S., Siriwardena, L., & Menges, A. (2024). ABxM.DistributedRobotics.RADr: Agent-based Design and Control of multiple Roaming Autonomous Distributed robots (RADr) [DaRUS]. https://doi.org/10.18419/darus-4058
  - BibTeX
  BibTeX
  @dataset{darus-4058_2024, author = {Leder, Samuel and Siriwardena, Lasath and Menges, Achim}, doi = {10.18419/darus-4058}, publisher = {DaRUS}, title = {ABxM.DistributedRobotics.RADr: Agent-based Design and Control of multiple Roaming Autonomous Distributed robots (RADr)}, url = {https://doi.org/10.18419/darus-4058}, version = {V1}, year = 2024 }
2022
1. Nguyen, L., Schwinn, T., Groenewolt, A., Maierhofer, M., Zorn, M. B., Stieler, D., Siriwardena, L., Kannenberg, F., & Menges, A. (2022). ABxM.Core: The Core Libraries of the ABxM Framework. https://doi.org/10.18419/darus-2994
  - BibTeX
  BibTeX
  @dataset{nguyen2022abxmcore, abstract = {The ABxM.Core consists of the agent core library ABxM.Core and an interoperability library for Rhino 6 and later versions. ABxM.Core implements the functionality specific to agent-based modelling and simulation. The core library can, in principle, be referenced from any application that is compatible with McNeel’s Rhino.Inside technology.ABxM.Core defines four base classes for behaviors, agents, agent systems, and environments, and the Solver class. In addition to the base classes, the core library provides implementations for Vector-based systems called “Boid” (in reference to Craig Reynolds’ Boids), point-based systems called “Cartesian”, matrix-based systems (2d and 3d), mesh systems, and network systems. The necessary agent, system, environment, and behavior classes are derived from the corresponding base classes.Instructions for the use of the source code are included in the file "ABxM.Core-Further_instructions.pdf".}, affiliation = {Nguyen, Long/University of Stuttgart, Schwinn, Tobias/University of Stuttgart, Groenewolt, Abel/University of Stuttgart, Maierhofer, Mathias/University of Stuttgart, Zorn, Max Benjamin/University of Stuttgart, Stieler, David/University of Stuttgart, Siriwardena, Lasath/University of Stuttgart, Kannenberg, Fabian/University of Stuttgart, Menges, Achim/University of Stuttgart}, author = {Nguyen, Long and Schwinn, Tobias and Groenewolt, Abel and Maierhofer, Mathias and Zorn, Max Benjamin and Stieler, David and Siriwardena, Lasath and Kannenberg, Fabian and Menges, Achim}, doi = {10.18419/darus-2994}, howpublished = {Software}, note = {Related to: Groenewolt, A., Schwinn, T., Nguyen, L., & Menges, A. (2018). An interactive agent-based framework for materialization-informed architectural design. Swarm Intelligence, 12(2), 155-186. doi: 10.1007/s11721-017-0151-8}, orcid-numbers = {Schwinn, Tobias/0000-0003-4974-9808, Groenewolt, Abel/0000-0002-0914-6474, Maierhofer, Mathias/0000-0002-0773-7107, Zorn, Max Benjamin/0000-0003-0109-1963, Stieler, David/0000-0002-3854-0016, Siriwardena, Lasath/0000-0001-9100-1321, Kannenberg, Fabian/0000-0003-0316-1769, Menges, Achim/0000-0001-9055-4039}, title = {ABxM.Core: The Core Libraries of the ABxM Framework}, year = 2022 }

Prof. Achim Menges

Spokesperson

Phone: +49 711 685 82786

E-Mail

Prof. Dr. Metin Sitti

Principal Investigator

Phone: +49 711 6893401

E-Mail

Prof. Dr. Marc Toussaint

Principal Investigator

E-Mail

Robotic Kinematic System for Parallel Construction

LEVERAGING THE BUILDING MATERIAL AS PART OF THE ROBOTIC KINEMATIC SYSTEM FOR PARALLEL CONSTRUCTION

PRINCIPAL INVESTIGATORS

RESEARCHERS

PEER-REVIEWED PUBLICATIONS

2024

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2023

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2022

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2021

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2020

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2019

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OTHER PUBLICATIONS

2025

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2024

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2023

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2022

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DATA SETS

2025

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2024

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2022

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Prof. Achim Menges

Prof. Dr. Metin Sitti

Prof. Dr. Marc Toussaint

Cluster of Excellence IntCDC

Audience

Formalities

Services

Organization