Social insects in nature such as ants, termites and bees construct their colonies collaboratively in a very efficient process. In these swarms, each insect contributes to the construction task individually showing redundant and parallel behavior of individual entities. But the robotics adaptations of these swarm's behaviors haven't yet made it to the real world at a large enough scale of commonly being used due to the limitations in the existing approaches to the swarm robotics construction. This paper presents an approach that combines the existing swarm construction approaches which results in a swarm robotic system, capable of constructing a given 2 dimensional shape in an optimized manner.

翻译：蚂蚁、白蚁和蜜蜂等社会性昆虫在非常高效的进程中合作构建其聚居区。在这些群群中,每只昆虫都为单个的建筑任务做出贡献,显示个体实体的多余和平行行为。但是,由于现有群机器人构造方法的局限性,机器人对这些群的行为的适应尚未在相当大程度上将其应用于现实世界。本文介绍了一种结合现有群群建筑方法的方法,这些方法导致形成一个群状机器人系统,能够以最优化的方式构建给定的二维形状。