SelfOrganized Adaptive Paths in MultiRobot Manufacturing: Reconfigurable and PatternIndependent Fibre Deployment Using multirobot systems for autonomous construction allows for parallelization and scalability. Swarm construction furthermore exploits robot interactions and collaboration, such that the robot swarm collectively constructs artifacts beyond what a single comparable robot could achieve. Here we present an alternative concept of swarm construction that is distinct because it uses continuous building material. Our approach is unique in its use of braiding techniques for construction. We deploy fibres that potentially allow for structures that are not possible with building blocks. To achieve maximal scalability we restrict ourselves to a decentralized approach. The main challenges are the local coordination of the robot teams, selforganized task allocation, and the dynamic reconfiguration of the braiding scheme at runtime. We successfully validate our approach in multirobot experiments that show both braiding and branching of the braid. In addition, we show options for implementing an open systemxe2x80x94that is robots can join and leave the braiding process on the fly.

MultiRobot Assembly Sequencing via Discrete Optimization Multirobot assembly has the potential to greatly reduce the cost and risk associated with the fabrication of large structures. Using teams of robots to perform assembly offers numerous advantages such as parallelism, robustness to singleagent failures, and flexibility in scheduling and task assignment. However, while previous work on multirobot assembly focuses on generating feasible assembly plans and decentralized control strategies, we instead study the problem of planning optimal assembly sequences.To this end, we pose the problem of multirobot assembly as a discrete optimization, specifically an integer linear program (ILP) or quadratic program (IQP), which aims to minimize the time to complete the assembly, or to minimize the distance traveled. We develop a model of multirobot assembly that captures both geometric constraints and actuation constraints inherent to the problem. While the ILP and IQP can be solved exactly using commercial optimization software in a substantial amount of time, we also propose heuristic strategies which can be quickly computed, and can scale to structures of reasonable size. We also verify our methods empirically by comparing their performance on a variety of test structures.