You are required to read and agree to the below before accessing a full-text version of an article in the IDE article repository.

The full-text document you are about to access is subject to national and international copyright laws. In most cases (but not necessarily all) the consequence is that personal use is allowed given that the copyright owner is duly acknowledged and respected. All other use (typically) require an explicit permission (often in writing) by the copyright owner.

For the reports in this repository we specifically note that

  • the use of articles under IEEE copyright is governed by the IEEE copyright policy (available at
  • the use of articles under ACM copyright is governed by the ACM copyright policy (available at
  • technical reports and other articles issued by M‰lardalen University is free for personal use. For other use, the explicit consent of the authors is required
  • in other cases, please contact the copyright owner for detailed information

By accepting I agree to acknowledge and respect the rights of the copyright owner of the document I am about to access.

If you are in doubt, feel free to contact

On the Bar Installation Order for the Automated Fabrication of Rebar Cages



Mahdi Momeni Kelageri, Johan Relefors , Lars Petterson , Alessandro Papadopoulos, Thomas Nolte

Publication Type:

Conference/Workshop Paper


International Symposium on Automation and Robotics in Construction


Robotics automation is a promising solution for the fabrication of structures made out of reinforced concrete. The reinforcement is often installed directly in the form and bar-by-bar. Using bigger pre-fabricated units (cages) may be beneficial for saving construction time and better labor safety. In this paper, we focus on the problem of automating the generation of a plan for the installation of rebars, given the digital twin of a desired reinforcement cage design, and of its basic components. More specifically, the plan describes the assembling order for the rebars such that (i) it is possible to fabricate the reinforcement cage by the robots, and (ii) the end product is the final reinforcement cage, ready for installation in the form for the concrete structure. In this paper, we propose an algorithm to automatically compute a feasible installation order for a generic rebar cage. The feasibility of the generated order is also case studied and simulated on a simplified rebar cage under the given assumptions.


@inproceedings{Momeni Kelageri6476,
author = {Mahdi Momeni Kelageri and Johan Relefors and Lars Petterson and Alessandro Papadopoulos and Thomas Nolte},
title = {On the Bar Installation Order for the Automated Fabrication of Rebar Cages},
month = {July},
year = {2022},
booktitle = {International Symposium on Automation and Robotics in Construction},
url = {}