In order for off-Earth top surface structures built from regolith to protect astronauts from radiation, they need to be several meters thick. Technical University Delft (TUD) proposes to excavate into the ground to create subsurface habitats. By excavating not only natural protection from radiation can be achieved but also thermal insulation because the temperature is more stable underground. At the same time through excavation valuable resources can be mined for through in situ resource utilization (ISRU). The idea is that a swarm of autonomous mobile robots excavate the ground in a sloped downwards spiral movement. The excavated regolith will be mixed with cement, which can be reproduced on Mars through ISRU, in order to create concrete. The concrete is 3D printed/sprayed on the excavated tunnel to reinforce it. As soon as the tunnels are reinforced, the material in-between the tunnels can be removed in order to create a larger cavity that can be used for inhabitation. Proposed approach relies on Design-to-Robotic-Production (D2RP) technology developed at TUD1 for on-Earth applications. The rhizomatic 3D printed structure is a structurally optimized porous shell structure with increased insulation properties. In order to regulate the indoor pressurised environment an inflatable structure is placed in the 3D printed cavity. This inflatable structure is made of materials, which can also be at some point reproduced on Mars through ISRU. Depending on location the habitat and the production system are powered by a system combining solar and kite power. The ultimate goal is to develop an autarkic D2RP system for building subsurface autarkic habitats on Mars from locally obtained materials.
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