TERMES Project: Algorithmic Self-Assembly
This video shows examples of decentralized algorithms for collective construction, generated by a global-to-local compiler that transforms a desired goal structure into a local robot behavior program. Using local sensing, and implicit coordination, multiple robots can simultaneously construct structures of different classes, while preserving intermediate constraints such as climbability and lock-placement restrictions. See the IROS 2011 workshop paper for more details.
Read more on the bots here:; http://www.eecs.harvard.edu/ssr/projects/cons/termes.html