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On-site robotic construction not only has the potential to enable architectural assemblies that exceed the size and complexity practical with laboratory-based prefabrication methods, but also offers the opportunity to leverage context-specific, locally sourced materials that are inexpensive, abundant, and low in embodied energy. We introduce a process for constructing dry stone walls in situ, facilitated by a customized autonomous hydraulic excavator. Cabin-mounted LiDAR sensors provide fordoi:10.1007/s41693-020-00037-6 fatcat:aaetnimwungppptygqgcsbbcxy