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A key challenge in robot swarm engineering is the design  of individual robot controllers such that the robots as a group can  perform a specified task.  In this  paper, we explore algorithmic options for designing and reconfiguring  swarms of synchronous reactive robots to perform a joint navigation /  morphogenesis task in a known world. Our results show that neither  of these problems can be solved both efficiently and correctly either in  general or relative to a surprisingly large number of restrictions  on robot and swarm architecture. We also  give restrictions under which these problems  can be solved both efficiently and correctly.A key challenge in robot swarm engineering is the design  of individual robot controllers such that the robots as a group can  perform a specified task.  In this  paper, we explore algorithmic options for designing and reconfiguring  swarms of synchronous reactive robots to perform a joint navigation /  morphogenesis task in a known world. Our results show that neither  of these problems can be solved both efficiently and correctly either in  general or relative to a surprisingly large number of restrictions  on robot and swarm architecture. We also  give restrictions under which these problems  can be solved both efficiently and correctly.

Exploruing Algorithmic Options for the Efficient Design and Reconfiguration of Reactive Robot Swarms