Abstract: A system and method for additive manufacturing are provided. The system for additive manufacturing can include a fabrication robot configured to perform a fabrication process within a pipe, and a support robot configured to support the fabrication robot. The fabrication process may include the fabrication robot depositing a material on the pipe, thus consuming material throughout the fabrication process. The support robot may traverse between an entrance of the pipe and the fabrication robot to obtain additional material and to refill the fabrication robot and the material is consumed. The support robot may further be configured to install and remove one or more tether management rings along bends within the pipe, such that the tether management rings can reduce drag caused by a tether of the fabrication robot.