Supplementary Materials

Designing Collective Behavior in a Termite-Inspired Robot Construction Team

Justin Werfel, Kirstin Petersen, Radhika Nagpal

Materials/Methods, Supplementary Text, Tables, Figures, and/or References

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  • Materials and Methods
  • Figs. S1 to S12
  • Table S1
  • Captions for movies S1 to S5
  • References

Images, Video, and Other Other Media

Movie S1
Robots in simulation build the tower of Fig. 1D. Robots are independently controlled, and aside from the static structpath, have access only to local information, with no knowledge about the overall current structure state, number of robots (here, 20), actions taken by others, etc.
Movie S2
A predetermined final structure can be built via any of many possible paths. Two panels show different orderings in which bricks are added in independent simulation runs, both ultimately producing the structure of Fig. 2C; robots are not shown.
Movie S3
Hardware demonstration of three robots working on a castle-like structure, starting from a partially complete state (Fig. 4A). Robots are autonomous, independently controlled, and have strictly onboard, short-range sensing. Total elapsed time in this clip is 23 minutes.
Movie S4
Hardware demonstration of three robots building a branching structure (Fig. 4B). Multiple different paths along the structure exist for the robots to follow from entry to exits. Total elapsed time in this clip is 31 minutes.
Movie S5
Hardware demonstration of reactive behavior. Robots respond to local situations they encounter; changing the structure (in ways consistent with the structpath rules) while they work requires no special response and has no effect on the eventual successful completion of the structure. Total elapsed time in this clip is 23 minutes.