Distributed Multi-Robot Algorithms for the TERMES 3D Collective Construction System

Abstract

The research goal of collective construction is to develop systems in which large numbers of autonomous robots build large-scale structures according to desired specifications. We present algorithms for TERMES, a multi-robot construction system inspired by the building activities of termites. The system takes as input a high-level representation of a desired structure, and provides rules for an arbitrary number of simple climbing robots to build that structure, using passive solid building blocks under conditions of gravity. These rules are decentralized, rely on local information and implicit coordination, and provably guarantee correct completion of the target structure. Robots build staircases of blocks (potentially removable as temporary scaffolds) that they can climb to build structures much larger than themselves.