Huddle: Parallel Shape Assembly using Decentralized, Minimalistic Robots

• URL: http://arxiv.org/abs/2603.17768v1
• Date: Wed, 18 Mar 2026 14:28:37 GMT
• Title: Huddle: Parallel Shape Assembly using Decentralized, Minimalistic Robots
• Abstract summary: We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots.<n>By relying on local interactions, the algorithm ensures there are no unreachable states or gaps in the assembly.<n>We prove the algorithm's correctness and demonstrate its effectiveness in forming a 107-robot assembly.
• Score: 2.702613634883432
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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.

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