Constructing Martian habitats presents significant challenges due to the harsh environmental conditions and limited resources available. In the presented study, a robotic assembly method has been developed that incorporates K-means clustering for task allocation and topological interlocking. The topological interlocking of Voronoi-based components provides an internally force-locked system, which facilitates both the robotic assembly process and the structural stability of the habitat. The clustering is leveraged for production planning objectives, including resource allocation and scheduling operations for assembling components. This method addresses assembly challenges of nonuniform components and facilitates the stacking of prefabricated 3D-printed Voronoi-based components using mobile robots. Experimental tests show that the proposed approach is practical and scalable, offering a feasible solution for autonomous Martian habitat construction. It contributes to laying the groundwork for sustainable autonomous construction systems.