We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots. By relying on local interactions, the algorithm ensures there are no unreachable states or gaps in the assembly, which are global properties. The in-assembly robots attract passing-by robots into expanding the assembly via a simple implementation of signaling and alignment. Our approach is minimalistic, requiring only communication between attached, immediate neighbors. It is motion-agnostic and requires no pose localization, enabling asynchronous and order-independent assembly. We prove the algorithm's correctness and demonstrate its effectiveness in forming a 107-robot assembly.

翻译：我们提出了一种利用分散式机器人形成任意形状组装体的新型算法。该算法通过依赖局部交互，确保组装体不存在不可达状态或间隙——这些均是全局性属性。组装体内的机器人通过简单的信号传递与对齐机制，吸引途经机器人加入并扩展组装体。该方法具有简约性，仅需相邻连接机器人之间的通信；其运动无关且无需位姿定位，支持异步与顺序无关的组装。我们证明了该算法的正确性，并通过构建包含107个机器人的组装体验证了其有效性。