Introducing Agent-Based Modeling Methods for Designing Architectural Structures with Multiple Mobile Robotic Systems

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.