Huddle: Parallel Shape Assembly using Decentralized, Minimalistic Robots

TL;DR

This paper introduces a decentralized algorithm for shape assembly with minimalistic robots, enabling asynchronous, order-independent formation of complex structures through local interactions without global localization.

Contribution

The paper presents a novel, minimalistic, decentralized algorithm for shape assembly that guarantees correctness and works without pose localization or synchronized motion.

Findings

Successfully assembled a 107-robot structure

Algorithm guarantees no unreachable states or gaps

Operates asynchronously with local communication

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.