Angled cantilever construction by force-aware robotic swarms

Swarms of robots could be used to self-assemble into bridges across gaps in their terrain, with potential applications including in disaster relief. Prior work has shown how such bridges can be constructed in a force-aware manner to ensure they do not collapse, but only considers structures with a flat upper surface. We build on this work by considering how structures that follow a specified path, for example between platforms at two different heights, can be safely constructed. This increases the versatility of these structures, bringing the research closer to the requirements of real-world application.