Modern factories, despite advancements in automation and digitalization, are still limited in adapting to different products due to their design for specific purposes and dependence on specialized supply chains. This rigidity limits their adaptability and resilience to disruptions. This paper introduces a comprehensive framework for Heterogeneous Swarm Manufacturing (HSM) that enables a swarm of different manufacturing robots to dynamically reconfigure and cooperatively execute hybrid manufacturing tasks. The framework encompasses processes including task division, task allocation, dynamic scheduling, and path planning, addressing the complexities of interdependence between these processes. To validate the framework, we developed a testbed featuring four types of robot-3D printing robots, laser processing robots, transport robots, and assembly robots—operating on a modular floor tile system and conducted two proof-of-concept case studies by manufacturing a large-scale Razorback Logo and a fully functional mini-electric vehicle (Mini-EV). The results demonstrated the effectiveness of the framework in guiding the planning of heterogeneous swarm manufacturing. The results show the promise of HSM to improve the adaptability and resilience of manufacturing systems, paving the way for more agile, general-purpose factories.
Wu et al. (2026) studied this question.