Abstract
Abstract In this paper we present a solution to a particular problem from the more general field of construction robotics. The problem we deal with consists of employing one or more mobile robots to autonomously build a user-defined 3-D structure composed of bricks of the same size. Our approach is based on Supervisory Control Theory for extended finite-state machines. The main point of our paper is to communicate our first findings on how the solution to the one-robot scenario could be modified to yield a solution to the multiple-robot scenario. Along the way we examine the scalability, completeness and non-blockingness of our proposed approach and discuss future perspectives.
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