Assembly planning for planar structures of a brick wall pattern with rectangular modular robots

We present an assembly planning algorithm for constructing planar structures out of rectangular modular robots which can dock to each other to form a brick wall pattern. The algorithm is provably correct and complete, and efficiently computes an assembly sequence in O(m²) time, where m is the number of robots needed to be assembled in a goal structure. The assembly plan incorporates reachability and collision constraints and supports distributed assembly so that multiple robots can be docked to a growing structure without centralized coordination. Simulations and experiments will be also presented.