Compilation and Biologically-Inspired Self-Assembly of Two-Dimensional Shapes

In this paper, we present a programming language approach for assembling an arbitrary two-dimensional shape from decentralized, identically-programmed agents. Our system compiles a predetermined global shape into a program that allows the agents to grow the shape via replication, using only location-based control mechanisms. In the global-to-local compilation phase, an input shape is decomposed into a network of efficient covering-spheres. The sphere network parameterizes the agent program, a biologically-inspired framework allowing cells to produce the shape using replication and local interactions. Our system is robust to random agent failure, and regenerates in the event of region death.

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