Masonry vaults are mechanically efficient structures but deemed uneconomical because of falsework construction. Even a craft like thin-tile vaulting, which does not require centering to support the vault during construction, needs time-consuming guidework to aid the builders follow the vault's geometry. However, this visual support can be digitized, using augmented reality to create digital guidework. The proposed methodology provides a framework that empowers vault builders to remain in control of their analog craft by providing only the right digital visual information. This methodology was developed through a preliminary prototype that led to a demonstrator built in an uncontrolled outdoor environment. Construction results showed productivity gain around 30% in terms of time, and shape accuracy under 1% of the span. The static holographic projection of the guidework could be extended in future research into an interactive aid, through mixed reality for further construction productivity and accuracy, as well as for training and design.

This paper investigates the feasibility of adapting ancient historical construction techniques to cooperative robotic assembly methods to minimize centering requirements in masonry vaults. First, an overview of seven historical techniques is presented. Next, a classification framework is introduced to evaluate the automation potential of these methods, identifying the rib network as the most promising candidate. This is followed by two computational case studies on the cooperative robotic construction of planar masonry arches and multi-arch rib networks. These studies evaluated the impact of robotic reachability and support payload on the feasibility of centering-free construction. A conclusion based only on these simulation results is that high-payload fixed robots, in comparison to medium-payload mobile setups, allow for the construction of larger and more complex rib structures. This research is of relevance to architects and engineers interested in using a cooperative robotic fabrication framework to reduce centering in masonry vault construction.