The swarm within the labyrinth: planar construction by a robot swarm

We propose an approach to guide simple robots through arbitrary environments while engaged in a planar construction task. The intent is to mitigate spatial interference between robots which often occurs in distributed robots operating on the same set of objects. Information can also be encoded within the structure of the labyrinth to provide auxiliary guidance, such as the direction in which objects should be incrementally moved to reach their goals. We show results in a simulation environment and study the impact of the number of robots deployed. We also provide validation on physical robots.