  In this article, we present a mechanism and related path planning algorithm
to construct light-duty barriers out of extruded, inflated tubes weaved around
existing environmental features. Our extruded tubes are based on everted
vine-robots and in this context, we present a new method to steer their growth.
We characterize the mechanism in terms of accuracy resilience, and, towards
their use as barriers, the ability of the tubes to withstand distributed loads.
We further explore an algorithm which, given a feature map and the size and
direction of the external load, can determine where and how to extrude the
barrier. Finally, we showcase the potential of this method in an autonomously
extruded two-layer wall weaved around three pipes. While preliminary, our work
indicates that this method has the potential for barrier construction in
cluttered environments, e.g. shelters against wind or snow. Future work may
show how to achieve tighter weaves, how to leverage weave friction for improved
strength, how to assess barrier performance for feedback control, and how to
operate the extrusion mechanism off of a mobile robot.
