Huddle: Parallel Shape Assembly using Decentralized, Minimalistic Robots

2026-03-18

AI Summary

This study addresses the challenge of achieving gap-free, deadlock-free parallel assembly of arbitrary target shapes using minimalistic, decentralized robots. The work proposes a decentralized algorithm that relies solely on local communication and neighbor interactions, enabling robots to collaboratively construct complex structures without requiring global positioning, pose estimation, motion synchronization, or a prescribed assembly sequence. Through simple attraction rules and alignment strategies, the system guarantees global reachability and complete, gap-free coverage of the target shape in theory. Experimental validation with 107 physical robots demonstrates successful assembly of intricate geometries, confirming the correctness, robustness, and scalability of the proposed approach.

Technology Category

• Intelligent Robots: Multi-Robot Systems
• Multiagent Systems: Distributed Problem Solving
• Constraint Satisfaction and Optimization: Distributed CSP/Optimization

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Responsible Web: Human-perceived consequences of algorithmic deployment on the web
• Graph Algorithms and Modeling for the Web: Representation, reconstruction, and subgraph or motif discovery in Web-related graphs

Abstract

We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots. By relying on local interactions, the algorithm ensures there are no unreachable states or gaps in the assembly, which are global properties. The in-assembly robots attract passing-by robots into expanding the assembly via a simple implementation of signaling and alignment. Our approach is minimalistic, requiring only communication between attached, immediate neighbors. It is motion-agnostic and requires no pose localization, enabling asynchronous and order-independent assembly. We prove the algorithm's correctness and demonstrate its effectiveness in forming a 107-robot assembly.

Problem

• decentralized robots
• shape assembly
• minimalistic robots
• local interactions
• unreachable states

Innovation

• decentralized robotics
• minimalistic robots
• parallel shape assembly
• local interaction
• asynchronous assembly