Living architectures, such as beehives and ant bridges, adapt continuously to their environments through self-organization of swarming agents. In contrast, most human-made architecture remains static, unable to respond to changing climates or occupant needs. Despite advances in biomimicry within architecture, architectural systems still lack the self-organizing dynamics found in natural swarms. In this work, we introduce the concept of architectural swarms: systems that integrate swarm intelligence and robotics into modular architectural façades to enable responsiveness to environmental conditions and human preferences. We present the Swarm Garden, a proof of concept composed of robotic modules called SGbots. Each SGbot features buckling-sheet actuation, sensing, computation, and wireless communication. SGbots can be networked into reconfigurable spatial systems that exhibit collective behavior, forming a testbed for exploring architectural swarm applications. We demonstrate two application case studies. The first explores adaptive shading using self-organization, where SGbots respond to sunlight using a swarm controller based on opinion dynamics. In a 16-SGbot deployment on an office window, the system adapted effectively to sunlight, showing robustness to sensor failures and different climates. Simulations demonstrated scalability and tunability in larger spaces. The second study explores creative expression in interior design, with 36 SGbots responding to human interaction during a public exhibition, including a live dance performance mediated by a wearable device. Results show that the system was engaging and visually compelling, with 96% positive attendee sentiments. The Swarm Garden exemplifies how architectural swarms can transform the built environment, enabling "living-like" architecture for functional and creative applications.
Alhafnawi et al. (Wed,) studied this question.