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Autonomous construction has been an active research topic for engineers and designers for many years. Meanwhile, technological advancement made in the drone industry is continuously pushing the drone's capability boundary. The probability of drones actively participating in additive construction is large enough to be realized in the near future. However, there is no system that can control a scalable number of drones for autonomous construction in a dynamic continuous environment. This thesisdoi:10.1184/r1/14138024 fatcat:ytd4ecsuifcofiafn25cqqbjn4