Decentralized Control for 3D MBlocks for Path Following, Line Formation, and Light Gradient Aggregation This paper presents a decentralized control framework for latticebased Modular SelfReconfigurable Robots (MSRR) which utilizes a novel magnetic fiducial system to facilitate neighbor identification and to enable algorithms which promise scalable functionality for systems with many modules. In this system individual modules autonomously follow simple behaviors while periodically accepting input from a centralized controller. This system is demonstrated with three initial behaviors: (1) Path following: modules follow a three dimensional path based on magnetic fiducial tags embedded in their neighbors, (2) Line formation: modules transform from a 3D structure into a line following a partially decentralized control algorithm, and (3) Light gradient aggregation: the formation of a group of modules guided by a global stimulus (i.e. visible light). This paper provides details of the neighbor identification system, introduces the three behaviors and presents the results of physical experiments performed with a system of twelve 3D MBlock robotic modules.

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.