Simulation, robot codes and figure data from collective phototactic robotectonics

The collective construction of complex architectures by social insects via stigmergy is known to be modulated by spatio-time signals that modulate and are modulated by the environment. Inspired by these observations, we show that a robot collective can successfully nucleate a construction site via a trapping instability and then cooperatively either construct organized structures or de-construct them by (modifying a single parameter associated with the pick-up action of the robot). We quantify these observations in terms of a two-dimensional phase space, encompassing agent-agent interaction (cooperation)  and the agent-environment interaction (collection and deposition). Our approach to complex task execution eliminates global representation, planning or optimization/control algorithms in favor of local rules for sensing and action. We observe that collectives can leverage the environment as both a communication channel and a spatio-temporal memory, which is likely to be applicable to broader contexts associated with embodied intelligence(s).