New Publication! Automating historical centering-minimizing masonry vaulting strategies

Bruun, Edvard P. G., Robin Oval, Wesam Al Asali, Orsolya Gaspar, Vittorio Paris, and Sigrid Adriaenssens. 2024. “Automating Historical Centering-Minimizing Masonry Vaulting Strategies: Applications to Cooperative Robotic Construction.” Developments in the Built Environment. https://doi.org/10.1016/j.dibe.2024.100516.

In this paper, we delve into the feasibility of adapting ancient masonry techniques for modern robotic assembly, specifically aiming to minimize the need for centering in vault construction. We began by thoroughly reviewing seven historical methods—some dating back thousands of years—and developed a classification framework to assess their potential for automation. Our computational case studies revealed rib network construction as the most promising approach, and we demonstrated how high-payload fixed robots can enable the centering-free assembly of planar and multi-arch rib networks.

I’d like to extend my gratitude to my co-authors for their invaluable contributions. Also, thanks to the Princeton University Library Open Access Fund for supporting the open access publication of this article, ensuring that our research remains freely accessible.