Incremental Redundancy-Aware Motion Planning for Continuous Mobile Extrusion in Constrained Architectural Environments
David Richter, Hauke Heeren, Annika Raatz, and Kathrin Dörfler
5th RILEM International Conference on Concrete and Digital Fabrication (DC 2026), RILEM Bookseries, Volume 78, pp. 156–163
2027
DOI

In-situ 3D Concrete Printing of a Vaulted Ceiling Using a Mobile Robot
David Richter, Benedikt Grimm, Frederic Chovghi, Gido Dielemans, Pierluigi D’Acunto, Thomas Kränkel, and Kathrin Dörfler
Automation in Construction, Volume 192, Article 107257
2026
DOI

Human-AI Actionable Design for Architectural Repair

Tizian Rein, Begüm Saral, and Kathrin Dörfler
Design Modelling Symposium 2026, Lausanne
2026

Robotic Deconstruction of Brickwork Enabled by Spatial AI

Begüm Saral, Hanzhi Chen, Stefan Leutenegger, and Kathrin Dörfler
Construction Robotics, Volume 10, Article 26
2026

DOI   PDF

Situated Perception: Spatial AI-Enabled Scene- and Object-level Localisation for Mobile Robotic Assembly

Begüm Saral, Hanzhi Chen, Stefan Leutenegger, and Kathrin Dörfler
2026 Proceedings of the 43rd ISARC, Singapore
2026

DOI   PDF

Reconsidering the Historical Cap Ceiling: Layerwise Form-Finding of Self-Supporting Vaulted Structures for In Situ 3D Printing

Frederic Chovghi, David Richter, Kathrin Dörfler, and Pierluigi D'Acunto
Proceedings of the IASS 2024 Symposium
2024

PDF

Fabrication-Aware Design Method and Experimental Assessment of a Segmented Concrete Pedestrian Bridge Using SPI Technology

P. Schneider, S. Dietrich, Ch. Richter, R. Najian Asl, A. Straßer, T. Kränkel, K. Bletzinger, Ch. Gehlen, H. Kloft, P. D’Acunto and K. Dörfler
4^th RILEM International Conference on Concrete and Digital Fabrication (DC 2024)
2024

DOI

Robotic Repair: In-Place 3D Printing for Repair of Building Components Using a Mobile Robot

Gido Dielemans, Lukas Lachmayer, Noor Khader, Norman Hack, Annika Raatz, and Kathrin Dörfler
International Conference on 3D Construction Printing, 3DcP 2023, Singapore
2024

DOI   

Upscaling Earth Formworks: 3D Printing Strategies for Material-Optimised Reinforced Concrete Structures

Sasha Cutajar, Gido Dielemans, Ema Krakovska, Evelin Dorresteijn, Inke Mai, Dirk Lowke, Kathrin Dörfler, and Ena Lloret-Fritschi
Construction Robotics, Volume 8, Article Number 3
2024

DOI   

Mobile Robotic Brickwork Disassembly for Material Reuse

Begüm Saral, Hanzhi Chen, Stefan Leutenegger, and Kathrin Dörfler
In: Robotic Fabrication in Architecture, Art and Design 2024. ROB|ARCH 2024. 
2026

DOI   PDF

Breuer x AM: Functional Hybridization in Concrete Building Envelope Elements through Additive Manufacturing

J. Fleckenstein.; B. Knychalla, D. Briels, A. Baghdadi, G. Placzek, F. Herding, H. Kloft and K. Dörfler
Fabricate 2024: Creating Resourceful Futures, 2024, pp. 196-205 
2024

DOI    PDF

AMC Collaborative Demonstrators: Validation of Integrated Research Methodologies through Collaborative AMC Prototyping

K. Dörfler, N. Hack, K. Henke, H. Kloft
Technische Universität München, Technische Universität Braunchweig, Additive Manufacturing in Construction AMC TRR 277 (Eds.)
2023

DOI 
 

From Additive Manufacturing to Architecture: an explorative design project.

H. Blocksdorf, K. Dörfler, N. Hack, M. Scheible, J. Fleckenstein, A. Niemann, F. Nagler
Technische Universität München, Technische Universität Braunchweig, Additive Manufacturing in Construction AMC TRR 277 (Eds.)
2023

DOI 
 

Monolithic AM Façade: Multi-Objective Parametric Design Optimization of Additively Manufactured Insulating Wall Elements

Briels, D.; M. Renz, A. Nouman, A. Straßer, M. Hechtl, M. Dahlenburg, B. Knychalla, P. Sonnleitner, F. Herding,
J. Fleckenstein, E. Krakovská, K. Dörfler and T. Auer
Frontiers in Built Environment - Construction Materials 
2023

DOI 
 

Revisiting Breuer through Additive Manufacturing: Passive solar-control design strategies for bespoke concrete building envelope elements

Fleckenstein, J.; F. Bertagna, V. Piccioni, M. Fechner, M. Düpree, P. D'Acunto, K. Dörfler
Dokonal, W, Hirschberg, U and Wurzer, G (eds.), Digital Design Reconsidered - Proceedings of the 41st Conference on Education and Research in Computer Aided Architectural Design in Europe (eCAADe 2023) - Volume 1, Graz, 20-22 September 2023, pp. 527–538
2023

DOI
 

Tie A Knot: Human–Robot Cooperative Workflow for Assembling Wooden Structures Using Rope Joints

Daniela Mitterberger, Lidia Atanasova, Kathrin Dörfler, Fabio Gramazio, and Matthias Kohler
Construction Robotics 2022
2022

DOI  

 

Autonomous Sensing and Localisation of a Mobile Robot for Multi-Step Additive Manufacturing in Construction

Lukas Lachmayer, Tobias Recker, Gido Dielemans, Kathrin Dörfler, and Annika Raatz
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, XLIII-B1-2(B1-2022), 453–458.
2022

DOI   

Die Forschungsinfrastruktur des SFB TRR 277 AMC Additive Fertigung im Bauwesen

Kloft, H.; Dörfler, K.; Bährens, M.; Dielemans, G.; Diller, J.; Dörrie, R.; Gantner, S.; Hensel, J.; Keune, A.; Lowke, D.; Mai, I.; Mainka, J.; Placzek, G.; Saile, B.; Scharf-Wildenhain, R.; Schwerdtner, P.; Kock, S.; Siebert, D.; Talke, D.; Wenzler, D.
Bautechnik 99, H. 10, S. 758–773
2022

DOI
 

Collective AR-Assisted Assembly of Interlocking Structures

Lidia Atanasova, Begüm Saral, Ema Krakovska, Jan Schmuck, Sebastian Dietrich, Fadri Furrer, Timothy Sandy, Pierluigi D'Acunto, Kathrin Dörfler
Design Modelling Symposium 2022, Berlin
2022

DOI    VIDEO
 

Digital Design and Fabrication Strategy of a Hybrid Timber-Earth Floor Slab

J. Trummer, M. Schneider, M. Lechner, T. Jarmer, T. Demoulin, G. Landrou, F. Nagler, S. Winter, and K. Dörfler
IOP Conference Series: Earth and Environmental Science
2022

DOI

Mobile Additive Manufacturing: A Case Study of Clay Formworks for Bespoke In Situ Concrete Construction

Gido Dielemans, Lukas Lachmayer, Tobias Recker, Lida Atanasova, Christian Hechtl, Carla Matthäus, Annika Raatz, and Kathrin Dörfler
Digital Concrete 2022: Proceedings
2022

DOI   
 

Additive Manufacturing Using Mobile Robots: Opportunities and Challenges for Building Construction

Kathrin Dörfler, Gido Dielemans, Lukas Lachmayer, Tobias Recker, Annika Raatz, Dirk Lowke, and Markus Gerke
Cement and Concrete Research: Special Issue SI: Digital Concrete
2022

DOI    PDF   

Climate-Resilient Robotic Facades:
Architectural Strategies to Improve Thermal Comfort in Outdoor Urban Environments using Robotic Assembly

Fleckenstein, J.; PL. Molter, A. Chokhachian and K. Dörfler
Frontiers in Built Environment (Status: published)
2022

DOI    PDF    VIDEO    PROJECT PAGE
 

Towards Realizing the Information Backbone of Robotized Construction: Computational Methods and Cyber-Physical Architectures for Collaborative Robotic Fleets

Andre Borrmann, Tobias Bruckmann, Kathrin Dörfler, Tobias Hartmann, and Kay Smarsly
38th International Conference of CIB W78
2021

DOI    PDF 
 

Prototype as Artefact: Design Tool for Open-ended Collaborative Assembly Processes

Lidia Atanasova, Daniela Mitterberger, Timothy Sandy, Fabio Gramazio, Matthias Kohler, Kathrin Dörfler
ACADIA 2020 Distributed Proximities
2020

DOI    PDF 
 

TRR 277: Additive Manufacturing in Construction

Harald Kloft, Christoph Gehlen, Kathrin Dörfler, Norman Hack, Klaudius Henke, Dirk Lowke, Jeldrik Mainka, and Annika Raatz
Bautechnik
2021

DOI    PDF

 

Climate Active Bricks: How Robotic Fabrication Technology Can Contribute to Improving Urban Microclimates

Julia Fleckenstein, Philip Molter, Ata Chokhachian, and Kathrin Dörfler
Review TUM Department of Architecture #3/2020
2021

PDF    VIDEO
 

Mobile Additive Manufacturing: A Robotic System for Cooperative On-site Construction

Gido Dielemans and Kathrin Dörfler
IROS 2021 Workshop: Robotic Fabrication: Sensing in Additive Construction
2021

PDF 
 

Additive Manufacturing of Thermally Enhanced Lightweight Concrete Wall Elements with Closed Cellular Structures

Dielemans, G.; D. Briels, F. Jaugstetter, K. Henke, and K. Dörfler
JFDE (Journal of Facade Design and Engineering): Special issue PowerSkin 2021
2021


DOI    PDF   VIDEO
 

Augmented Bricklaying: Human–Machine Interaction for In Situ Assembly of Complex Brickwork Using Object-Aware Augmented Reality

Daniela Mitterberger, Kathrin Dörfler, Timothy Sandy, Foteini Salveridou, Marco Hutter, Fabio Gramazio, and Matthias Kohler
Construction Robotics, Volume 4 (3–4): 151–61.
2020

DOI    PDF    VIDEO
 

Structural Stay-in-Place Formwork for Robotic in Situ Fabrication of Non-Standard Concrete Structures: A Real Scale Architectural Demonstrator

Norman Hack, Kathrin Dörfler, Alexander Nikolas Walzer, Timothy Wangler, Jaime Mata-Falcón, Nitish Kumar, Jonas Buchli, Walter Kaufmann, Robert J. Flatt, Fabio Gramazio, Matthias Kohler
Automation in Construction, Volume 115
2020

DOI
 

DFAB House - A Comprehensive Demonstrator of Digital Fabrication in Architecture

Konrad Graser, Marco Baur, Ana Apolinarska, Kathrin Dörfler, Norman Hack, Andrei Jipa, Ena Lloret-Fritschi, Timothy Sandy, Daniel Sanz-Pont, Matthias Kohler, Daniel Hall
Fabricate 2020, no. May: 130–39
2020

DOI    PDF    VIDEO    PROJECT PAGE
 

Robotic AeroCrete – A Novel Robotic Spraying and Surface Treatment Technology for the Production of Slender Reinforced Concrete Elements

Nizar Taha, Alexander Walzer, Jetana Ruangjun, Teophil Bürgin, Kathrin Dörfler, Ena Lloret-Fritschi, Fabio Gramazio, Matthias Kohler
37th eCAADe + SIGraDi Conference: Architecture in the Age of the 4th Industrial Revolution, Porto, Portugal
2019

DOI    PDF    VIDEO 
 

Mobile Robotic Fabrication beyond Factory Conditions: Case Study Mesh Mould Wall of the DFAB House

Kathrin Dörfler, Norman Hack, Timothy Sandy, Markus Giftthaler, Manuel Lussi, Alexander Walzer, Jonas Buchli, Fabio Gramazio, and Matthias Kohler 
Construction Robotics Springer Journals, Volume 3, Pages 53–67 (2019) 
2019

DOI    PDF    VIDEO    PROJECT PAGE

Digital In Situ Fabrication - Challenges and Opportunities for Robotic In Situ Fabrication in Architecture, Construction, and Beyond

Jonas Buchli, Manuel Lussi, Markus Giftthaler, Kathrin Dörfler, Timothy Sandy, Norman Hack, Nitish Kumar
Cement and Concrete Research 2018, Elsevier, Amsterdam
2018

DOI    PDF    VIDEO    PROJECT PAGE

Accurate and Adaptive In Situ Fabrication of an Undulated Wall Using an on-board Visual Sensing System

Manuel Lussi, Timothy Sandy, Kathrin Dörfler, Norman Hack, Fabio Gramazio, Matthias Kohler, Jonas Buchli
IEEE International Conference on Robotics and Automation (ICRA) 2018
2018

DOI    PDF    VIDEO    PROJECT PAGE

Mesh Mould: An On-Site, Robotically Fabricated, Functional Formwork

Hack, N.; T. Wangler, J. Mata-Falcon, K. Dörfler, N. Kumar, N. Walzer, K. Graser, L. Reiter, H. Richner, J. Buchli, W. Kaufmann, R.J. Flatt, F. Gramazio, M. Kohler
Concrete Innovation Conference 2018, Tromsø
2018

DOI    PDF    VIDEO    PROJECT PAGE

Design, Development and Experimental Assessment of a Robotic End-Effector for Non-Standard Concrete Applications

Nitish Kumar, Norman Hack, Kathrin Dörfler, Alexander Walzer, Gonzalo Rey, Fabio Gramazio, Matthias Kohler, and Jonas Buchli
IEEE International Conference on Robotics and Automation (ICRA) 2017
2017

DOI    PDF 

Autonomous Repositioning and Localisation of an In-Situ Fabricator 

Timothy Sandy, Markus Giftthaler, Kathrin Dörfler, Matthias Kohler, and Jonas Buchli
IEEE International Conference on Robotics and Automation (ICRA) 2016
2016

DOI    PDF   VIDEO    PROJECT PAGE

Mobile Robotic Brickwork: Automation of a Discrete Robotic Fabrication Process Using an Autonomous Mobile Robot

Kathrin Dörfler, Timothy Sandy, Markus Giftthaler, Fabio Gramazio, Matthias Kohler, Jonas Buchli 
Robotic Fabrication in Architecture, Art and Design 2016, Sydney
2016

DOI    PDF    VIDEO  PROJECT PAGE

Remote Material Deposition: Exploration of Reciprocal Digital and Material Computational Capacities

Kathrin Dörfler, Luka Piskorec, Sebastian Ernst, Jan Willmann, Volker Helm, Fabio Gramazio, Matthias KOhler
What's the Matter: Materiality and Materialism at the Age of Computation, Madrid, 2014
2014 

DOI    PDF    VIDEO   PROJECT PAGE

Moderation of Vagueness: Experiments on the Interconnection between Physical and Digital Processes of Form Generation

Kathrin Dörfler, Romana Rust, Florian Rist
GAM 10, Intuition and the Machine. Ed. by TU Graz
Graz Architecture Magazine, Ambra Verlag
2014

DOI    PDF    VIDEO    PROJECT PAGE

Interlacing - An Experimental Approach of Integrating Digital and Physical Design Methods

Kathrin Dörfler, Florian Rist, Romana Rust 
Robotic Fabrication in Architecture, Art and Design, Vienna 2012 
2012

DOI    PDF    VIDEO    PROJECT PAGE