We present an assembly planning algorithm for constructing planar structures out of rectangular modular robots which can dock to each other to form a brick wall pattern. The algorithm is provably correct and complete, and efficiently computes an assembly sequence in O(m 2 ) time, where m is the number of robots needed to be assembled in a goal structure. The assembly plan incorporates reachability and collision constraints and supports distributed assembly so that multiple robots can be docked to a growing structure without centralized coordination. Simulations and experiments will be also presented.
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Seo et al. (2013) studied this question.