SRoCS: Leveraging Stigmergy on a Multi-robot Construction Platform for Unknown Environments

  • Michael Allwright
  • Navneet Bhalla
  • Haitham El-faham
  • Anthony Antoun
  • Carlo Pinciroli
  • Marco Dorigo
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8667)


Current implementations of decentralized multi-robot construction systems are limited to construction of rudimentary structures such as walls and clusters, or rely on the use of blueprints for regulation. Building processes that make use of blueprints are unattractive in unknown environments as they can not compensate for heterogeneities, such as irregular terrain. In nature, social insects coordinate the construction of their nests using stigmergy, a mechanism of indirect coordination that is robust and adaptive. In this paper, we propose the design of a multi-robot construction platform called the Swarm Robotics Construction System (SRoCS). The SRoCS platform is designed to leverage stigmergy in order to coordinate multi-robot construction in unknown environments.


Mobile Robot Intelligent Robot Building Process Unknown Environment Real Hardware 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Michael Allwright
    • 1
  • Navneet Bhalla
    • 2
  • Haitham El-faham
    • 1
  • Anthony Antoun
    • 3
  • Carlo Pinciroli
    • 3
  • Marco Dorigo
    • 1
    • 3
  1. 1.Department of Computer ScienceUniversity of PaderbornPaderbornGermany
  2. 2.Sibley School of Mechanical and Aerospace EngineeringCornell UniversityIthacaUSA
  3. 3.IRIDIAUniversité Libre de BruxellesBrusselsBelgium

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