We describe a system in which simple, identical, autonomous robots assemble two-
dimensional structures using prefabricated modules as building blocks. Modules are
capable of some information processing, enabling them to share longrange structural
information and communicate it to robots. This communication allows arbitrary solid
structures to be rapidly built using a few fixed, local robot behaviors. Modules are identical in
shape but may be functionally distinct, with constraints governing the location of different …

Building patterned structures with robot swarms | CiNii Research … Building patterned
structures with robot swarms …